Adjustable autonomy in real-world multi-agent environments
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Data Fusion and Sensor Management: A Decentralized Information-Theoretic Approach
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Artificial Intelligence: A Modern Approach
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Evaluation of Supervisory vs. Peer-Peer Interaction with Human-Robot Teams
HICSS '04 Proceedings of the Proceedings of the 37th Annual Hawaii International Conference on System Sciences (HICSS'04) - Track 5 - Volume 5
Spoken dialogue management using probabilistic reasoning
ACL '00 Proceedings of the 38th Annual Meeting on Association for Computational Linguistics
Machine Vision: Theory, Algorithms, Practicalities
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Effective user interface design for rescue robotics
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Modeling and querying uncertain spatial information for situational awareness applications
GIS '06 Proceedings of the 14th annual ACM international symposium on Advances in geographic information systems
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Assessing the scalability of a multiple robot interface
Proceedings of the ACM/IEEE international conference on Human-robot interaction
Shared environment representation for a human-robot team performing information fusion
Journal of Field Robotics - Special Issue on Teamwork in Field Robotics
Decision-theoretic human-robot communication
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Scalable Human-Robot Interactions in Active Sensor Networks
IEEE Pervasive Computing
Computer Vision and Image Understanding - Special issue: Attention and performance in computer vision
UAI'99 Proceedings of the Fifteenth conference on Uncertainty in artificial intelligence
Myopic value of information in influence diagrams
UAI'97 Proceedings of the Thirteenth conference on Uncertainty in artificial intelligence
A model for types and levels of human interaction with automation
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Shared understanding for collaborative control
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Selection of actions for an autonomous social robot
ICSR'10 Proceedings of the Second international conference on Social robotics
A novel agent based control scheme for RTS games
Proceedings of The 8th Australasian Conference on Interactive Entertainment: Playing the System
Multi-mode Natural Language Processing for Extracting Open Knowledge
WI-IAT '12 Proceedings of the The 2012 IEEE/WIC/ACM International Joint Conferences on Web Intelligence and Intelligent Agent Technology - Volume 02
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Humans and robots need to exchange information if the objective is to achieve a task collaboratively. Two questions are considered in this paper: what and when to communicate. To answer these questions, we developed a human-robot communication framework which makes use of common probabilistic robotics representations. The data stored in the representation determines what to communicate, and probabilistic inference mechanisms determine when to communicate. One application domain of the framework is collaborative human-robot decision making: robots use decision theory to select actions based on perceptual information gathered from their sensors and human operators. In this paper, operators are regarded as remotely located, valuable information sources which need to be managed carefully. Robots decide when to query operators using Value-Of-Information theory, i.e. humans are only queried if the expected benefit of their observation exceeds the cost of obtaining it. This can be seen as a mechanism for adjustable autonomy whereby adjustments are triggered at run-time based on the uncertainty in the robots' beliefs related to their task. This semi-autonomous system is demonstrated using a navigation task and evaluated by a user study. Participants navigated a robot in simulation using the proposed system and via classical teleoperation. Results show that our system has a number of advantages over teleoperation with respect to performance, operator workload, usability, and the users' perception of the robot. We also show that despite these advantages, teleoperation may still be a preferable driving mode depending on the mission priorities.