Human-Robot Trust Integrated Task Allocation and Symbolic Motion planning for Heterogeneous Multi-robot Systems

10/26/2018
by   Huanfei Zheng, et al.
0

This paper presents a human-robot trust integrated task allocation and motion planning framework for multi-robot systems (MRS) in performing a set of tasks concurrently. A set of task specifications in parallel are conjuncted with MRS to synthesize a task allocation automaton. Each transition of the task allocation automaton is associated with the total trust value of human in corresponding robots. Here, the human-robot trust model is constructed with a dynamic Bayesian network (DBN) by considering individual robot performance, safety coefficient, human cognitive workload and overall evaluation of task allocation. Hence, a task allocation path with maximum encoded human-robot trust can be searched based on the current trust value of each robot in the task allocation automaton. Symbolic motion planning (SMP) is implemented for each robot after they obtain the sequence of actions. The task allocation path can be intermittently updated with this DBN based trust model. The overall strategy is demonstrated by a simulation with 5 robots and 3 parallel subtask automata.

READ FULL TEXT

page 1

page 2

page 3

page 4

page 5

page 6

page 7

page 9

research
08/15/2018

Trust-based Multi-Robot Symbolic Motion Planning with a Human-in-the-Loop

Symbolic motion planning for robots is the process of specifying and pla...
research
10/08/2021

Using Trust for Heterogeneous Human-Robot Team Task Allocation

Human-robot teams have the ability to perform better across various task...
research
05/31/2017

A Learning Based Optimal Human Robot Collaboration with Linear Temporal Logic Constraints

This paper considers an optimal task allocation problem for human robot ...
research
03/06/2021

Show Me What You Can Do: Capability Calibration on Reachable Workspace for Human-Robot Collaboration

Aligning humans' assessment of what a robot can do with its true capabil...
research
09/18/2019

Respect Your Emotion: Human-Multi-Robot Teaming based on Regret Decision Model

Often, when modeling human decision-making behaviors in the context of h...
research
01/06/2022

Trust-based Symbolic Motion Planning for Multi-robot Bounding Overwatch

Multi-robot bounding overwatch requires timely coordination of robot tea...
research
01/06/2022

Bayesian Optimization Based Trustworthiness Model for Multi-robot Bounding Overwatch

In multi-robot system (MRS) bounding overwatch, it is crucial to determi...

Please sign up or login with your details

Forgot password? Click here to reset