Multi -Agent Perception for Human/Robot Interaction: A Framework for Intuitive Trajectory Modification.

Abstract

An application of distributed perception to a novel human/computer interface is presented. A multi-agent network has been applied to the task of modifying a robotic trajectory based on very sparse physical inputs from the user. The user conveys intentions by nudging the end effector, instrumented with a wrist force/torque sensor, in an intuitive manner. In response, each agent interprets these sparse inputs with the aid of a local, fuzzified, heuristic model of a particular parameter or trajectory shape. The agents then independently determine the confidence of their respective findings and distributed arbitration resolves the interpretation through voting.

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Document Details

Document Type
Technical Report
Publication Date
Sep 15, 1994
Accession Number
ADA289399

Entities

People

  • Pradeep K. Khosia
  • Richard M. Voyles Jr.

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Arbitration
  • Autonomous Agents
  • Calibration
  • Complex Systems
  • Computer Science
  • Computers
  • Computing System Architectures
  • Control
  • Control Systems
  • Hierarchies
  • Human-Machine Interfaces
  • Manufacturing
  • Multiagent Systems
  • Preprocessing
  • Simulations
  • Trajectories
  • User Interface

Fields of Study

  • Computer science

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Computational Modeling and Simulation
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control
  • Autonomy - Human-Robot Interaction