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dc.contributor.advisorJeffrey A. Hoffman and Joseph H. Saleh.en_US
dc.contributor.authorArnold, Julie Ann, S.M. Massachusetts Institute of Technologyen_US
dc.contributor.otherMassachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.en_US
dc.date.accessioned2007-01-10T16:42:55Z
dc.date.available2007-01-10T16:42:55Z
dc.date.copyright2006en_US
dc.date.issued2006en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/35583
dc.descriptionThesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2006.en_US
dc.descriptionIncludes bibliographical references (p. 113-121).en_US
dc.description.abstractHuman-robotic systems will play a critical role in space exploration, should NASA embark on missions to the Moon and Mars. A unified framework to optimally leverage the capabilities of humans and robots in space exploration will be an invaluable tool for mission planning. Although there is a growing body of literature on human robotic interactions (HRI), there is not yet a framework that lends itself both to a formal representation of heterogeneous teams of humans and robots, and to an evaluation of such teams across a series of common, task-based metrics. My objective in this thesis is to lay the foundations of a unified framework for architecting human-robotic systems for optimal task performance given a set of metrics. First, I review literature from different fields including HRI and human-computer interaction, and synthesize multiple considerations for architecting heterogeneous teams of humans and robots. I then present methods to systematically and formally capture the characteristics that describe a human-robotic system to provide a basis for evaluating human-robotic systems against a common set of metrics.en_US
dc.description.abstract(cont.) I propose an analytical formulation of common metrics to guide the design and evaluate the performance of human-robot systems, and I then apply the analytical formulation to a case study of a multi-agent human-robot system developed at NASA. Finally, I discuss directions for further research aimed at developing this framework.en_US
dc.description.statementofresponsibilityby Julie Ann Arnold.en_US
dc.format.extent121 p.en_US
dc.format.extent6375557 bytes
dc.format.extent6383213 bytes
dc.format.mimetypeapplication/pdf
dc.format.mimetypeapplication/pdf
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsM.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.en_US
dc.rights.urihttp://dspace.mit.edu/handle/1721.1/7582
dc.subjectAeronautics and Astronautics.en_US
dc.titleTowards a framework for architecting heterogeneous teams of humans and robots for space explorationen_US
dc.typeThesisen_US
dc.description.degreeS.M.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.en_US
dc.identifier.oclc74491388en_US


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