Towards a framework for architecting heterogeneous teams of humans and robots for space exploration
Author(s)Arnold, Julie Ann, S.M. Massachusetts Institute of Technology
Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.
Jeffrey A. Hoffman and Joseph H. Saleh.
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Human-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.(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.
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2006.Includes bibliographical references (p. 113-121).
DepartmentMassachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.
Massachusetts Institute of Technology
Aeronautics and Astronautics.