Mixed-Initiative Strategies for Real-time Scheduling of Multiple Unmanned Vehicles
Name
ACC_2012_ClareMacbethCummings.pdf
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705.73 KB
Format
Adobe PDF
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Author(s)
Clare, A. S.
Macbeth, J. C,
Cummings, M. L.
Date Issued
2012
Publisher
American Control Conference
Citation
Clare, A. S., Macbeth, J. C., and Cummings, M. L., Mixed-Initiative Strategies for Real-time Scheduling of Multiple Unmanned Vehicles, American Control Conference, Montreal, Canada, 2012.
Abstract
Advances in autonomy have made it possible to invert the typical operator-to-unmanned vehicle ratio so that a single operator can now control multiple heterogeneous Unmanned Vehicles (UVs). Real-time scheduling and task assignment for multiple UVs in uncertain environments will require the computational ability of optimization algorithms combined with the judgment and adaptability of human supervisors through mixed-initiative systems. The goal of this paper is to analyze the interactions between operators and scheduling algorithms in two human- in-the-loop multiple UV control experiments. The impact of real-time operator modifications to the objective function of an optimization algorithm for multi-UV scheduling is described. Results from outdoor multiple UV flight tests using a human-computer collaborative scheduling system are presented, which provide valuable insight into the impact of environmental uncertainty and vehicle failures on system effectiveness.
Subjects
autonomy
unmanned vehicles systems
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