TY - GEN
T1 - An objective function for performance measurement of human-robot target recognition systems in unstructured environments
AU - Bechar, Avital
AU - Edan, Yael
AU - Meyer, Joachim
PY - 2004/12/1
Y1 - 2004/12/1
N2 - Robotic systems for unstructured environments need to cope with rapid changes in time and space, inherent uncertainty, and generate unpredictable and dynamic situations, resulting in lack of information, due to inadequate sensor accuracy and computational limitations. Introduction of a Human-Operator (HO) into the system can help simplify the robotic system and ensure improved performance. In the current study we developed an objective function for different levels of HO-robot collaboration in a target recognition task. The objective function considers several HO and robot parameters, which contribute to the overall performance in each level of collaboration. Results indicate that HO-robot collaboration improves system performance in many conditions. The optimal collaboration level depends on image complexity and on robot and HO characteristics. Some of the latter have to be assessed through behavioral research on HOs.
AB - Robotic systems for unstructured environments need to cope with rapid changes in time and space, inherent uncertainty, and generate unpredictable and dynamic situations, resulting in lack of information, due to inadequate sensor accuracy and computational limitations. Introduction of a Human-Operator (HO) into the system can help simplify the robotic system and ensure improved performance. In the current study we developed an objective function for different levels of HO-robot collaboration in a target recognition task. The objective function considers several HO and robot parameters, which contribute to the overall performance in each level of collaboration. Results indicate that HO-robot collaboration improves system performance in many conditions. The optimal collaboration level depends on image complexity and on robot and HO characteristics. Some of the latter have to be assessed through behavioral research on HOs.
KW - Human-robot interaction
KW - Levels of automation
KW - Objective function
KW - Target recognition
KW - Unstructured environments
UR - http://www.scopus.com/inward/record.url?scp=15744400052&partnerID=8YFLogxK
U2 - 10.1109/ICSMC.2004.1398284
DO - 10.1109/ICSMC.2004.1398284
M3 - Conference contribution
AN - SCOPUS:15744400052
SN - 0780385667
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 118
EP - 123
BT - 2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004
T2 - 2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004
Y2 - 10 October 2004 through 13 October 2004
ER -