论文标题
自主多机器人任务：游戏启发的监督控制界面
Copiloting Autonomous Multi-Robot Missions: A Game-inspired Supervisory Control Interface
论文作者
论文摘要
新技术和能力的现实部署可能令人生畏。例如，最近的DARPA地下（SubT）挑战旨在在三年的开发推动下，旨在提高机器人平台和自治能力。传统上，多机构系统部署在受控测试的受控和结构化环境中（例如仓库），但在失败的情况下，SubT挑战针对的是各种类型的未知地下环境，这些挑战在失败的情况下造成了机器人损失的风险。在这项工作中，我们介绍了一个由视频游戏启发的界面，一个自主任务助手，并在具有挑战性的环境中使用异质的多代理系统测试和部署这些界面。这项工作导致改进的人类精通控制，用于多代理系统，从应用程序交换，任务计划，执行和验证中降低开销，同时使用这个人类自治组合平台增加了可用的探索时间。
Real-world deployment of new technology and capabilities can be daunting. The recent DARPA Subterranean (SubT) Challenge, for instance, aimed at the advancement of robotic platforms and autonomy capabilities in three one-year development pushes. While multi-agent systems are traditionally deployed in controlled and structured environments that allow for controlled testing (e.g., warehouses), the SubT challenge targeted various types of unknown underground environments that imposed the risk of robot loss in the case of failure. In this work, we introduce a video game-inspired interface, an autonomous mission assistant, and test and deploy these using a heterogeneous multi-agent system in challenging environments. This work leads to improved human-supervisory control for a multi-agent system reducing overhead from application switching, task planning, execution, and verification while increasing available exploration time with this human-autonomy teaming platform.
