Autonomy%20Mode%20Suggestions%20for%20Improving%20Human-Robot%20Interaction

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Autonomy Mode Suggestions for Improving
Human-Robot Interaction

• Michael Baker
• Holly A. Yanco
• University of Massachusetts Lowell

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Robot-assisted Urban Search and Rescue

• Too dangerous for human and animal rescuers
• Need to locate victims who may be trapped or
  injured
• Need to navigate the robot quickly, but safely to
  avoid a secondary collapse
• Need robot autonomy

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HRI in USAR Observations

• Users spend too much time trying to gain
  situation awareness
• Users do not use robot autonomy modes effectively
  
• Users focus on the video feed to the exclusion of
  other sensor information

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How Suggestions Can Help

• Alert the user to important opportunities, events
  and information
• Promote user efficiency
• Teach the user about the robots autonomy modes
• Alleviate confusion about robot autonomy
• Teach the user about the systems capabilities
  and features

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How Suggestions Can Help

• Training wheels for the novice user
• Refresher course for the experienced user
• Shortens training time, which may be unavailable
  when disaster strikes
• Less to learn and remember about the interface
• In spite of training, users miss obvious sensor
  cues and mode switching opportunities

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How a Suggestion is Made

• A visual cue on the interface tells the user
• That something is being suggested
• What is being suggested
• How to accept (take) the suggestion
• Intentional use of color, position, distinctive
  graphics and text to minimize the users
  cognitive effort

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How a Suggestion is Taken

• The user presses a specified key
• Suggestion outcomes
• Switch the autonomy mode
• Change the camera view or position
• Turn the light on or off
• Ignored suggestions time out and disappear
• Changing conditions could cause a suggestion to
  disappear

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Autonomy Mode Suggestions

• Mutual Exclusivity
• One mode suggestion at a time
• Arbitration
• The system chooses the best mode suggestion when
  multiple are possible
• Preemption
• The system can preempt a mode suggestion with a
  better mode suggestion

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Implemented Suggestions

• Teleoperation Mode ? Safe Mode
• Escape Mode
• Center camera
• Change camera view
• Battery low
• Toggle light

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Teleoperation -gt Safe Mode Suggestion
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Escape Mode Suggestion
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Center Camera Suggestion
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Toggle Camera Suggestion
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Battery Suggestion
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Toggle Light Suggestion
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Toward Automatic Suggestions

• Use machine learning to customize suggestions for
  a particular user
• Take suggestions automatically
• Disable suggestions
• Adjustable frequency and duration
• Smarter suggestions

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Acknowledgment

• Thank you to Doug Few and David Bruemmer of INEEL
  for sharing their robot autonomy modes with us