Predictive Model for Human-Unmanned Vehicle Systems

Advances in automation are making it possible for a single operator to control multiple unmanned vehicles. However, the complex nature of these teams presents a difficult and exciting challenge for designers of human–unmanned vehicle systems. To build such systems effectively, models must be developed that describe the behavior of the human–unmanned vehicle team and that predict how alterations in team composition and system design will affect the system’s overall performance. In this paper, we present a method for modeling human–unmanned vehicle systems consisting of a single operator and multiple independent unmanned vehicles. Via a case study, we demonstrate that the resulting models provide an accurate description of observed human-unmanned vehicle systems. Additionally, we demonstrate that the models can be used to predict how changes in the human-unmanned vehicle interface and the unmanned vehicles’ autonomy alter the system’s performance.

[1]  Hiroshi Furukawa,et al.  A flexible delegation-type interface enhances system performance in human supervision of multiple robots: empirical studies with RoboFlag , 2005, IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans.

[2]  Guillermo Rodríguez-Ortiz,et al.  A New Method to Evaluate Human-Robot System Performance , 2003, Auton. Robots.

[3]  J. G. Hollands,et al.  Engineering Psychology and Human Performance , 1984 .

[4]  Jean Scholtz,et al.  Awareness in human-robot interactions , 2003, SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483).

[5]  Jacob W. Crandall,et al.  Predicting Operator Capacity for Supervisory Control of Multiple UAVs , 2007, Innovations in Intelligent Machines.

[6]  Dan R. Olsen,et al.  Fan-out: measuring human control of multiple robots , 2004, CHI.

[7]  Mary L. Cummings,et al.  Developing Operator Capacity Estimates for Supervisory Control of Autonomous Vehicles , 2007, Hum. Factors.

[8]  Michael A. Goodrich,et al.  Validating human-robot interaction schemes in multitasking environments , 2005, IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans.

[9]  K. Preston White,et al.  Systems engineering models of human-machine interaction , 1981, Proceedings of the IEEE.

[10]  R. Yerkes,et al.  The relation of strength of stimulus to rapidity of habit‐formation , 1908 .

[11]  Christopher D. Wickens,et al.  A model for types and levels of human interaction with automation , 2000, IEEE Trans. Syst. Man Cybern. Part A.

[12]  Jacob W. Crandall,et al.  The Impact of Heterogeneity on Operator Performance in Future Unmanned Vehicle Systems , 2008 .

[13]  J. Gregory Trafton,et al.  Human control of multiple unmanned vehicles: effects of interface type on execution and task switching times , 2006, HRI '06.

[14]  Mica R. Endsley,et al.  Design and Evaluation for Situation Awareness Enhancement , 1988 .

[15]  Randal W. Beard,et al.  Semi-autonomous human-UAV interfaces for fixed-wing mini-UAVs , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[16]  Hankins Tc,et al.  A comparison of heart rate, eye activity, EEG and subjective measures of pilot mental workload during flight. , 1998, Aviation, space, and environmental medicine.

[17]  Mustapha Mouloua,et al.  Automation and Human Performance : Theory and Applications , 1996 .

[18]  Reid G. Simmons,et al.  Coordinated Multiagent Teams and Sliding Autonomy for Large-Scale Assembly , 2006, Proceedings of the IEEE.

[19]  Christopher D. Wickens,et al.  Using Interference Models to Predict Performance in a Multiple-Task UAV Environment - 2 UAVs , 2003 .

[20]  Robert P. Goldman,et al.  The Playbook™ Approach to Adaptive Automation , 2005 .

[21]  Mary L. Cummings,et al.  Predicting Controller Capacity in Remote Supervision of Multiple Unmanned Vehicles , 2008 .

[22]  Mary L. Cummings,et al.  Predicting Controller Capacity in Supervisory Control of Multiple UAVs , 2008, IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans.

[23]  Christopher D. Wickens,et al.  Unmanned Aerial Vehicle Flight Control: False Alarms versus Misses , 2004 .

[24]  Heath A. Ruff,et al.  EXPLORING AUTOMATION ISSUES IN SUPERVISORY CONTROL OF MULTIPLE UAVS , 2004 .

[25]  Jeffrey D. Anderson,et al.  Managing autonomy in robot teams: Observations from four experiments , 2007, 2007 2nd ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[26]  Jacob W. Crandall,et al.  Identifying Predictive Metrics for Supervisory Control of Multiple Robots , 2007, IEEE Transactions on Robotics.

[27]  J. Veltman,et al.  Physiological workload reactions to increasing levels of task difficulty. , 1998, Ergonomics.

[28]  Stephanie Guerlain,et al.  An Interactive Decision Support Tool for Real-time In-flight Replanning of Autonomous Vehicles , 2004 .

[29]  David B. Kaber,et al.  The effects of level of automation and adaptive automation on human performance, situation awareness and workload in a dynamic control task , 2004 .

[30]  Mary L. Cummings,et al.  The Impact of Intelligent Aiding for Multiple Unmanned Aerial Vehicle Schedule Management , 2007 .

[31]  John M. Dolan,et al.  Scheduling to Minimize Downtime in Human-Multirobot Supervisory Control , 2006 .

[32]  John D. Lee,et al.  Trust, self-confidence, and operators' adaptation to automation , 1994, Int. J. Hum. Comput. Stud..

[33]  A. Freedy,et al.  A Comprehensive Methodology for Assessing Human-Robot Team Performance for Use in Training and Simulation , 2006 .

[34]  Jacob W. Crandall,et al.  Developing performance metrics for the supervisory control of multiple robots , 2007, 2007 2nd ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[35]  Hansjörg Neth,et al.  Juggling Multiple Tasks: A Rational Analysis of Multitasking in a Synthetic Task Environment , 2006 .

[36]  Mary L. Cummings,et al.  Automation Bias in Intelligent Time Critical Decision Support Systems , 2004 .

[37]  Michael A. Goodrich,et al.  Seven principles of efficient human robot interaction , 2003, SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483).

[38]  Thomas B. Sheridan,et al.  Mitigation of human supervisory control wait times through automation strategies , 2005 .

[39]  Michael Lewis,et al.  Human control for cooperating robot teams , 2007, 2007 2nd ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[40]  Michael A. Goodrich,et al.  Task Switching and Multi-Robot Teams , 2005 .

[41]  Charles E. Billings,et al.  Aviation Automation: The Search for A Human-centered Approach , 1996 .

[42]  Gary G. Koch,et al.  Categorical Data Analysis Using The SAS1 System , 1995 .

[43]  Jayson L. Colebank,et al.  A Resurvey of Shift Work-Related Fatigue in MQ-1 Predator Unmanned Aircraft System Crewmembers , 2008 .

[44]  Reid G. Simmons,et al.  Preliminary results in sliding autonomy for assembly by coordinated teams , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[45]  Jean Scholtz,et al.  Common metrics for human-robot interaction , 2006, HRI '06.

[46]  Mary L. Cummings,et al.  Operator scheduling strategies in supervisory control of multiple UAVs , 2007 .

[47]  Thomas B. Sheridan,et al.  Human and Computer Control of Undersea Teleoperators , 1978 .

[48]  Heath A. Ruff,et al.  Human Interaction with Levels of Automation and Decision-Aid Fidelity in the Supervisory Control of Multiple Simulated Unmanned Air Vehicles , 2002, Presence: Teleoperators & Virtual Environments.

[49]  M R Endsley,et al.  Level of automation effects on performance, situation awareness and workload in a dynamic control task. , 1999, Ergonomics.

[50]  Laurel D. Riek,et al.  A decomposition of UAV-related situation awareness , 2006, HRI '06.

[51]  Michael A. Goodrich,et al.  Experiments in adjustable autonomy , 2001, 2001 IEEE International Conference on Systems, Man and Cybernetics. e-Systems and e-Man for Cybernetics in Cyberspace (Cat.No.01CH37236).

[52]  Thomas B. Sheridan,et al.  Telerobotics, Automation, and Human Supervisory Control , 2003 .

[53]  M. K. Tulga,et al.  A model for dynamic allocation of human attention among multiple tasks , 1978 .

[54]  Mica R. Endsley,et al.  Automation and situation awareness. , 1996 .

[55]  Dan R. Olsen,et al.  Metrics for Evaluating Human-Robot Interactions , 2003 .

[56]  Michael Lewis,et al.  Assessing cooperation in human control of heterogeneous robots , 2008, 2008 3rd ACM/IEEE International Conference on Human-Robot Interaction (HRI).