Authority sharing in human-robot systems.

In the context of missions accomplished jointly by an artifi cal agent and a human agent, we focus on a controller of the authority dynamics based on a dependence graph of resources that can be controlled by both agents. The controller is designed to adapt the behaviours of the artifi cial agent or of the human agent in case of an authority conflict occurring on these resources. The relative authority of two agents regarding the control of a resource is de fined so as the authority conflict, which appears relevant to trigger authority reallocation between agents as shown by a fi rst experiment. Finally a second experiment shows that beyond the modifi cation of the arti ficial agent's behaviour, it is also possible to adapt the human operator's behaviour in order to solve such a conflict.

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