{"id":{"repo_id":"texas","oai_identifier":"oai:repositories.lib.utexas.edu:2152/86978"},"canonical_url":"https://search.dev.ndltd.org/etd/texas/oai:repositories.lib.utexas.edu:2152/86978","repository":{"repo_id":"texas","name":"University of Texas","base_url":"https://repositories.lib.utexas.edu/server/oai/request"},"display":{"title":"A mixed-initiative framework for multi-agent human-robot teams","abstract":"Robots and autonomous systems are expanding into more complex, dynamic, and human-centered operating domains. In such domains, neither full autonomy nor full human control are ideal and the appropriate level of autonomy is contextually-dependent. Mixed-initiative systems enable flexible autonomy, making them ideal for complex operating environments. However, most mixed-initiative research does not consider multi-agent human-robot systems, and a multi-agent mixed-initiative robot control framework is not readily available. This project explores the requirements for a mixed-initiative human-robot control framework and proposes an initial design. The mixed-initiative framework was deployed onto a mobile robot, where three different agents could take, transfer, share, enable, or disable robot control. Compared to single-agent systems, the multi-agent mixed-initiative system completed a series of navigation tasks more quickly. The multi-agent system also completed navigation tasks that a single-agent autonomous system could not. Further design improvements and applications for mixed-initiative systems are discussed.","abstract_html":"Robots and autonomous systems are expanding into more complex, dynamic, and human-centered operating domains. In such domains, neither full autonomy nor full human control are ideal and the appropriate level of autonomy is contextually-dependent. Mixed-initiative systems enable flexible autonomy, making them ideal for complex operating environments. However, most mixed-initiative research does not consider multi-agent human-robot systems, and a multi-agent mixed-initiative robot control framework is not readily available. This project explores the requirements for a mixed-initiative human-robot control framework and proposes an initial design. The mixed-initiative framework was deployed onto a mobile robot, where three different agents could take, transfer, share, enable, or disable robot control. Compared to single-agent systems, the multi-agent mixed-initiative system completed a series of navigation tasks more quickly. The multi-agent system also completed navigation tasks that a single-agent autonomous system could not. Further design improvements and applications for mixed-initiative systems are discussed.","abstract_has_math":false,"creators":["Duncan, John Alexander"],"institution":"The University of Texas at Austin","degree_name":"Master of Science in Engineering","degree_level":"Masters","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":[],"advisors":["Landsberger, Sheldon"],"committee_chairs":[],"committee_members":[],"year":2020,"date_issued":"2020-06-24","date_published":"2020-06-24","updated_at":"2026-07-24T05:01:02Z","subjects":["Robotics","Shared control","Human-robot interaction","Mixed-initiative interaction","Flexible autonomy","Multi-agent systems"],"languages":["en"],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://dx.doi.org/10.26153/tsw/13928"],"render_values":[{"text":"http://dx.doi.org/10.26153/tsw/13928","href":"http://dx.doi.org/10.26153/tsw/13928","code":true}]}]},"links":{"outbound_url":"https://hdl.handle.net/2152/86978","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Landsberger, Sheldon"]},{"key":"dc:creator","label":"Author","values":["Duncan, John Alexander"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2021-08-11T20:19:57Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2021-08-11T20:19:57Z"]},{"key":"dc:date.issued","label":"Date","values":["2020-06-24"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science in Engineering"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["The University of Texas at Austin"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Robotics","Shared control","Human-robot interaction","Mixed-initiative interaction","Flexible autonomy","Multi-agent systems"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/2152/86978","http://dx.doi.org/10.26153/tsw/13928"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["Robots and autonomous systems are expanding into more complex, dynamic, and human-centered operating domains. 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However, most mixed-initiative research does not consider multi-agent human-robot systems, and a multi-agent mixed-initiative robot control framework is not readily available. This project explores the requirements for a mixed-initiative human-robot control framework and proposes an initial design. The mixed-initiative framework was deployed onto a mobile robot, where three different agents could take, transfer, share, enable, or disable robot control. Compared to single-agent systems, the multi-agent mixed-initiative system completed a series of navigation tasks more quickly. The multi-agent system also completed navigation tasks that a single-agent autonomous system could not. 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