| Title: | Towards a framework for architecting heterogeneous teams of humans and robots for space exploration |
| Authors: | Arnold, Julie A., Author ; Massachusetts Institute of Technology. Departement of Aeronautics and Astronautics., Other |
| Material Type: | report |
| Publisher: | [S.l.] : Massachusetts Institute of Technology. Departement of Aeronautics and Astronautics., 2006 |
| Size: | 121 p. / ill. (some col.) / 29 cm |
| Bibliography note: | Thesis. Includes bibliographical references. |
| Languages: | English |
| Subjects: | Human-machine systems ; Space exploration |
| Description: | Human-robotic systems will play a critical role in space exploration, should NASA embark on missions to the Moon and Mars. A unified framework to optimally leverage the capabilities of humans and robots in space exploration will be an invaluable tool for mission planning. Although there is a growing body of literature on human robotic interactions (HRI), there is not yet a framework that lends itself both to a formal representation of heterogeneous teams of humans and robots, and to an evaluation of such teams across a series of common, task-based metrics. My objective in this thesis is to lay the foundations of a unified framework for architecting human-robotic systems for optimal task performance given a set of metrics. First, I review literature from different fields including HRI and human-computer interaction, and synthesize multiple considerations for architecting heterogeneous teams of humans and robots. I then present methods to systematically and formally capture the characteristics that describe a human-robotic system to provide a basis for evaluating human-robotic systems against a common set of metrics. (cont.) I propose an analytical formulation of common metrics to guide the design and evaluate the performance of human-robot systems, and I then apply the analytical formulation to a case study of a multi-agent human-robot system developed at NASA. Finally, I discuss directions for further research aimed at developing this framework. |
| Access: | http://dspace.mit.edu/handle/1721.1/35583 |
| Permalink: | https://isulibrary.isunet.edu/index.php?lvl=notice_display&id=7691 |
