Algorithms for dynamic switching of collaborative human-robot system in target recognition tasks

Itshak Tkach, Yael Edan, Avital Bechar

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

This paper presents a set of algorithms developed for real-time dynamic switching between collaboration levels in a human-robot target recognition system. The algorithms were developed for a closed-loop controller to maximize system performance despite deviations in the parameter values and were evaluated by conducting a thorough simulation analysis. These developments enable smooth realtime adaptation of the combined human-robot system to many possible changes of the environment, human operator and robot performance. System performance was analyzed in simulations for a variety of target probabilities distributions. Improvements that can be achieved by each algorithm were calculated as a mean value for 200 independent simulations for each target probability distribution. The numerical analysis results indicated that the developed algorithms for dynamic switching achieved improved system performance.

Original languageEnglish
Title of host publicationProceedings of the 13th IFAC Symposium on Information Control Problems in Manufacturing, INCOM'09
PublisherIFAC Secretariat
Pages2179-2184
Number of pages6
EditionPART 1
ISBN (Print)9783902661432
DOIs
StatePublished - 1 Jan 2009

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume13
ISSN (Print)1474-6670

ASJC Scopus subject areas

  • Control and Systems Engineering

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