A mixed-initiative framework for multi-agent human-robot teams

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.

Name thesis:degree_name

Master of Science in Engineering

Level thesis:degree_level

Masters

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

The University of Texas at Austin

Year dc:date.issued

2020

Author dc:creator

• Duncan, John Alexander

Advisor dc:contributor.advisor

• Landsberger, Sheldon

• Robotics
• Shared control
• Human-robot interaction
• Mixed-initiative interaction
• Flexible autonomy
• Multi-agent systems

Language dc:language.iso

en

Identifier URI

http://dx.doi.org/10.26153/tsw/13928

OAI identifier oai:identifier

oai:repositories.lib.utexas.edu:2152/86978