Predictive Planning for Heterogeneous Human-Robot Teams
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PondaInfotech2010[1].pdf
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Main article
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Author(s)
Ponda, Sameera S.
Choi, Han-Lim
How, Jonathan P.
Date Issued
April 2010
Journal
AIAA Infotech@Aerospace 2010
Publisher
American Institute of Aeronautics and Astronautics
Citation
Ponda, Sameera S., Han-Lim Choi, and Jonathan P. How. "Predictive Planning for Heterogeneous Human-Robot Teams." AIAA Infotech@Aerospace 2010
20-22 April 2010, Atlanta, Georgia, AIAA 2010-3349.
Version
Original manuscript
Abstract
This paper addresses the problem of task allocation over a heterogeneous team of hu-
man operators and robotic agents with the object of improving mission efficiency and
reducing costs. A distributed systems-level predictive approach is presented which simul-
taneously plans schedules for the human operators and robotic agents while accounting
for agent availability, workload and coordination requirements. The approach is inspired
by the Consensus-Based Bundle Algorithm (CBBA, a distributed task allocation frame-
work previously developed by the authors, which is used to perform the task coordination
for the team in a dynamic environment. Results show that predictive systems-level plan-
ning improves mission performance, distributes workload efficiently among agents, reduces
operator over-utilization and leads to coordinated agent behavior.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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http://pdf.aiaa.org/getfile.cfm?urlX=6%3A7I%276D%26X%5BRS%2CR0%23MP4S%5EQ%3AO%225Z%40%21%5D%40%20%20%0A&urla=%25%2ARH%27%21P%2C%20%0A&urlb=%21%2A%20%20%20%0A&urlc=%21%2A0%20%20%0A&urld=%28%2A%22D%22%22%40NAUQ4%20%0A&urle=%27%282%28%23%21P%26ATP%20%20%0A
