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ATAL
2015
Springer

A Mechanism for Smoothly Handling Human Interrupts in Team Oriented Plans

2 years 11 months ago
A Mechanism for Smoothly Handling Human Interrupts in Team Oriented Plans
Team oriented plans have become a popular tool for operators to control teams of autonomous agents (or robots) to pursue complex objectives in complex environments. Such plans allow an operator to specify high level directives and allow the team to autonomously determine how to implement such directives. However, the operators will often want to interrupt the activities of individual team members to deal with particular situations, such as a danger to a robot that the robot team cannot perceive. Previously, after such interrupt, the operator would usually need to restart the team plan to ensure its success. In this paper, we present an approach to encoding how unexpected interrupts can be smoothly handled within a team plan. Building on a team plan formalism that uses Colored Petri Net, we describe a mechanism that allows a range of interrupts to be handled smoothly, allowing the team to efficiently continue with its task, after the operator intervention. We validate the approach wit...
Alessandro Farinelli, Nicoló Marchi, Masoum
Added 16 Apr 2016
Updated 16 Apr 2016
Type Journal
Year 2015
Where ATAL
Authors Alessandro Farinelli, Nicoló Marchi, Masoume M. Raeissi, Nathan Brooks, Paul Scerri
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