Giving a robot, autonomous vehicle, or unmanned system a degree of autonomy can reduce the operator’s workload, but determining the best level of autonomy is a challenging problem when the robot will operate in a dynamic environment. To avoid (and recover from) failures that can lead to unsafe actions and unsuccessful missions, an adjustable autonomy approach can change the level of autonomy during a mission. This is related to metareasoning, which is reasoning about reasoning, or deciding how to decide. Also related to these domains is competence-aware autonomy, which enables a robot to learn the optimal level of autonomy for a given action. These similar domains have some overlap but also key differences: metareasoning is more general, adjustable autonomy is a class of metareasoning approaches, and a competence-aware system uses an enhanced technique for adjustable autonomy. This paper reviews and compares these concepts to clarify these ideas for those who are considering using them to improve the performance of their autonomous robots.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Controlling Autonomous Robots: Metareasoning, Adjustable Autonomy, and Competence-Aware Systems


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Larochelle, Pierre (Herausgeber:in) / McCarthy, J. Michael (Herausgeber:in) / Lusk, Craig P. (Herausgeber:in) / Herrmann, Jeffrey W. (Autor:in)

    Kongress:

    Combined IFToMM Symposium of RoManSy and the USCToMM Symposium on Mechanical Systems and Robotics ; 2024 ; Saint Petersburg, FL, USA May 22, 2024 - May 24, 2024



    Erscheinungsdatum :

    29.05.2024


    Format / Umfang :

    13 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    CONTINUAL PLANNING AND METAREASONING FOR CONTROLLING AN AUTONOMOUS VEHICLE

    WRAY KYLE HOLLINS / WITWICKI STEFAN / ZILBERSTEIN SHLOMO | Europäisches Patentamt | 2019

    Freier Zugriff

    Continual planning and metareasoning for controlling an autonomous vehicle

    WRAY KYLE HOLLINS / WITWICKI STEFAN / ZILBERSTEIN SHLOMO | Europäisches Patentamt | 2020

    Freier Zugriff

    Continual Planning and Metareasoning for Controlling an Autonomous Vehicle

    WRAY KYLE HOLLINS / WITWICKI STEFAN / ZILBERSTEIN SHLOMO | Europäisches Patentamt | 2020

    Freier Zugriff