Transparency-Based Action (TBA) Model for a Simulated Teleoperated Mobile Robot

Naama Aharony; Tal Arie; Tal Oron-Gilad; Yael Edan

doi:10.1007/978-981-96-3522-1_36

Transparency-Based Action (TBA) Model for a Simulated Teleoperated Mobile Robot

Naama Aharony, Tal Arie, Tal Oron-Gilad, Yael Edan

Department of Industrial Engineering and Management

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This study expands an existing Transparency-Based Action (TBA) model to the domain of variable autonomy for teleoperated robot navigation. A simulation of a teleoperated robot equipped with two Levels of Automation (LOAs): Low teleoperation and High-conditional navigation, was developed and evaluated for a dynamic office environment. Participants engaged in a navigation task under two switch control modes: robot-initiated (RI) and human-initiated (HI). The study implemented two TBA levels, High and Low, to assess their impact on task performance and participant perception. The findings revealed that the High TBA level improved task performance and user acceptance in the RI control mode, whereas minor differences were observed in the HI mode. Results suggest that higher transparency levels enhance performance and perception in robot-initiated control situations but are less critical in human-initiated control.

Original language	English
Title of host publication	Social Robotics - 16th International Conference, ICSR + AI 2024, Proceedings
Editors	Oskar Palinko, Leon Bodenhagen, John-John Cabibihan, Kerstin Fischer, Selma Šabanović, Katie Winkle, Laxmidhar Behera, Shuzhi Sam Ge, Dimitrios Chrysostomou, Wanyue Jiang, Hongsheng He
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	422-431
Number of pages	10
ISBN (Print)	9789819635214
DOIs	https://doi.org/10.1007/978-981-96-3522-1_36
State	Published - 1 Jan 2025
Event	16th International Conference on Social Robotics, ICSR + AI 2024 - Odense, Denmark Duration: 23 Oct 2024 → 26 Oct 2024

Publication series

Name	Lecture Notes in Computer Science
Volume	15561 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	16th International Conference on Social Robotics, ICSR + AI 2024
Country/Territory	Denmark
City	Odense
Period	23/10/24 → 26/10/24

Keywords

Human-Robot Interaction
Human-Robot Teaming
Switch control
Transparency
Variable autonomy

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/978-981-96-3522-1_36

Cite this

Aharony, N., Arie, T., Oron-Gilad, T., & Edan, Y. (2025). Transparency-Based Action (TBA) Model for a Simulated Teleoperated Mobile Robot. In O. Palinko, L. Bodenhagen, J.-J. Cabibihan, K. Fischer, S. Šabanović, K. Winkle, L. Behera, S. S. Ge, D. Chrysostomou, W. Jiang, & H. He (Eds.), Social Robotics - 16th International Conference, ICSR + AI 2024, Proceedings (pp. 422-431). (Lecture Notes in Computer Science; Vol. 15561 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-96-3522-1_36

Aharony, Naama ; Arie, Tal ; Oron-Gilad, Tal et al. / Transparency-Based Action (TBA) Model for a Simulated Teleoperated Mobile Robot. Social Robotics - 16th International Conference, ICSR + AI 2024, Proceedings. editor / Oskar Palinko ; Leon Bodenhagen ; John-John Cabibihan ; Kerstin Fischer ; Selma Šabanović ; Katie Winkle ; Laxmidhar Behera ; Shuzhi Sam Ge ; Dimitrios Chrysostomou ; Wanyue Jiang ; Hongsheng He. Springer Science and Business Media Deutschland GmbH, 2025. pp. 422-431 (Lecture Notes in Computer Science).

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title = "Transparency-Based Action (TBA) Model for a Simulated Teleoperated Mobile Robot",

abstract = "This study expands an existing Transparency-Based Action (TBA) model to the domain of variable autonomy for teleoperated robot navigation. A simulation of a teleoperated robot equipped with two Levels of Automation (LOAs): Low teleoperation and High-conditional navigation, was developed and evaluated for a dynamic office environment. Participants engaged in a navigation task under two switch control modes: robot-initiated (RI) and human-initiated (HI). The study implemented two TBA levels, High and Low, to assess their impact on task performance and participant perception. The findings revealed that the High TBA level improved task performance and user acceptance in the RI control mode, whereas minor differences were observed in the HI mode. Results suggest that higher transparency levels enhance performance and perception in robot-initiated control situations but are less critical in human-initiated control.",

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Aharony, N, Arie, T, Oron-Gilad, T & Edan, Y 2025, Transparency-Based Action (TBA) Model for a Simulated Teleoperated Mobile Robot. in O Palinko, L Bodenhagen, J-J Cabibihan, K Fischer, S Šabanović, K Winkle, L Behera, SS Ge, D Chrysostomou, W Jiang & H He (eds), Social Robotics - 16th International Conference, ICSR + AI 2024, Proceedings. Lecture Notes in Computer Science, vol. 15561 LNAI, Springer Science and Business Media Deutschland GmbH, pp. 422-431, 16th International Conference on Social Robotics, ICSR + AI 2024, Odense, Denmark, 23/10/24. https://doi.org/10.1007/978-981-96-3522-1_36

Transparency-Based Action (TBA) Model for a Simulated Teleoperated Mobile Robot. / Aharony, Naama; Arie, Tal; Oron-Gilad, Tal et al.
Social Robotics - 16th International Conference, ICSR + AI 2024, Proceedings. ed. / Oskar Palinko; Leon Bodenhagen; John-John Cabibihan; Kerstin Fischer; Selma Šabanović; Katie Winkle; Laxmidhar Behera; Shuzhi Sam Ge; Dimitrios Chrysostomou; Wanyue Jiang; Hongsheng He. Springer Science and Business Media Deutschland GmbH, 2025. p. 422-431 (Lecture Notes in Computer Science; Vol. 15561 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Aharony, Naama

AU - Arie, Tal

AU - Oron-Gilad, Tal

AU - Edan, Yael

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

PY - 2025/1/1

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N2 - This study expands an existing Transparency-Based Action (TBA) model to the domain of variable autonomy for teleoperated robot navigation. A simulation of a teleoperated robot equipped with two Levels of Automation (LOAs): Low teleoperation and High-conditional navigation, was developed and evaluated for a dynamic office environment. Participants engaged in a navigation task under two switch control modes: robot-initiated (RI) and human-initiated (HI). The study implemented two TBA levels, High and Low, to assess their impact on task performance and participant perception. The findings revealed that the High TBA level improved task performance and user acceptance in the RI control mode, whereas minor differences were observed in the HI mode. Results suggest that higher transparency levels enhance performance and perception in robot-initiated control situations but are less critical in human-initiated control.

AB - This study expands an existing Transparency-Based Action (TBA) model to the domain of variable autonomy for teleoperated robot navigation. A simulation of a teleoperated robot equipped with two Levels of Automation (LOAs): Low teleoperation and High-conditional navigation, was developed and evaluated for a dynamic office environment. Participants engaged in a navigation task under two switch control modes: robot-initiated (RI) and human-initiated (HI). The study implemented two TBA levels, High and Low, to assess their impact on task performance and participant perception. The findings revealed that the High TBA level improved task performance and user acceptance in the RI control mode, whereas minor differences were observed in the HI mode. Results suggest that higher transparency levels enhance performance and perception in robot-initiated control situations but are less critical in human-initiated control.

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Aharony N, Arie T, Oron-Gilad T , Edan Y. Transparency-Based Action (TBA) Model for a Simulated Teleoperated Mobile Robot. In Palinko O, Bodenhagen L, Cabibihan JJ, Fischer K, Šabanović S, Winkle K, Behera L, Ge SS, Chrysostomou D, Jiang W, He H, editors, Social Robotics - 16th International Conference, ICSR + AI 2024, Proceedings. Springer Science and Business Media Deutschland GmbH. 2025. p. 422-431. (Lecture Notes in Computer Science). doi: 10.1007/978-981-96-3522-1_36

Transparency-Based Action (TBA) Model for a Simulated Teleoperated Mobile Robot

Abstract

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Conference

Keywords

ASJC Scopus subject areas

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