Hierarchical Environment Model for Fusing Information from Human Operators and Robots

This paper considers the problem of building environment models by fusing information gathered by robotic platforms with human perceptual information. Rich environment models are required in real applications for both autonomous operation of robots and to support human decision making. Hierarchical...

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Bibliographic Details
Main Authors: Kaupp, T., Douillard, B., Upcroft, B., Makarenko, A.
Format: Conference Proceeding
Language:English
Subjects:
Decision making
hierarchical model
human-robot teams
Humanoid robots
Humans
Information analysis
Information fusion
Intelligent robots
Robot sensing systems
Scalability
sensor network
Tin
Unmanned aerial vehicles
Vehicle dynamics
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Description
Summary:This paper considers the problem of building environment models by fusing information gathered by robotic platforms with human perceptual information. Rich environment models are required in real applications for both autonomous operation of robots and to support human decision making. Hierarchical models are well suited to represent complex environments because they: offer multiple abstractions of the available information to support analysis and decision-making, and permit the incorporation of higher-level human observations. The contributions of this paper are two-fold: (1) development of a probabilistic three-level environment model for distributed information gathering, and (2) experimental demonstration of fully decentralized, cooperative human-robot information gathering using an outdoor sensor network comprised of an unmanned air vehicle, a ground vehicle, and two human operators. Several information exchange patterns are presented which qualitatively demonstrate human-robot information fusion
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2006.282398