Name
Title | ||
|---|---|---|
Everybody Needs Somebody Sometimes: Validation Of Adaptive Recovery In Robotic Space Operations |
Abstract | ||
|---|---|---|
This letter assesses an adaptive approach to fault recovery in autonomous robotic space operations, which uses indicators of opportunity, such as physiological state measurements and observations of past human assistant performance, to inform future selections. We validated our reinforcement learning approach using data we collected from humans executing simulated mission scenarios. We present a method of structuring human-factors experiments that permits collection of relevant indicator of opportunity and assigned assistance task performance data, as well as evaluation of our adaptive approach, without requiring large numbers of test subjects. Application of our reinforcement learning algorithm to our experimental data shows that our adaptive assistant selection approach can achieve lower cumulative regret compared to existing nonadaptive baseline approaches when using real human data. Our work has applications beyond space robotics to any application where autonomy failuresmay occur that require external intervention. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/LRA.2019.2894381 | IEEE ROBOTICS AND AUTOMATION LETTERS |
Keywords | Field | DocType |
Human-centered robotics, space robotics and automation, learning and adaptive systems | Resource management,Task analysis,Regret,Experimental data,Control engineering,Human–computer interaction,Space exploration,Engineering,Structuring,Robot,Reinforcement learning | Journal |
Volume | Issue | ISSN |
4 | 2 | 2377-3766 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
7 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Steve McGuire | 1 | 4 | 1.78 |
| P. Michael Furlong | 2 | 4 | 1.42 |
| Terry Fong | 3 | 123 | 24.05 |
| Christoffer R. Heckman | 4 | 12 | 10.78 |
| Daniel Szafir | 5 | 230 | 23.05 |
| simon j julier | 6 | 1463 | 118.53 |
| Nisar Ahmed | 7 | 412 | 36.29 |