Seeking Human Help to Manage Plan Failure Risks in Semi-Autonomous Mobile Manipulation
Abstract
We present a framework for identifying, communicating, and addressing risk in shared-autonomy mobile manipulator applications. This framework is centered on the capacity of the mobile manipulator to sense its environment, interpret complex and cluttered scenes, and estimate the probability of actions and configuration states that may result in task failures, such as collision (i.e., identifying “risk”). If the threshold for acceptable risk is exceeded, a remote operator is notified and presented with timely, actionable information in which the person can quickly assess the situation and provide guidance for the robot. This framework is demonstrated with a use case in which a mobile manipulator performs machine tending and material handling tasks.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Apr 13, 2022
- Source ID
- 10.1115/1.4054088
Entities
People
- Brual C. Shah
- Jason M. Gregory
- Jeremy A. Marvel
- Neel Dhanaraj
- Rex Jomy Joseph
- Sarah Al-hussaini
- Satyandra K. Gupta
- Shantanu Thakar
Organizations
- National Institute of Standards and Technology
- United States Army Research Laboratory
- University of Southern California