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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 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

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Metadaten
Author:Tobias Kaupp, Bertrand Douillard, Ben Upcroft, Alexei Makarenko
DOI:https://doi.org/10.1109/IROS.2006.282398
Parent Title (English):2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher:IEEE
Document Type:Conference Proceeding
Language:English
Year of publication:2006
Release Date:2023/07/26
Pages/Size:6
First Page:5837
Last Page:5842
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