• Publications
  • Influence
Mixed-Initiative Human-Robot Interaction: Definition, Taxonomy, and Survey
  • Shu Jiang, R. Arkin
  • Computer Science
  • IEEE International Conference on Systems, Man…
  • 1 October 2015
The goal of the taxonomy is to inform the design of mixed-initiative human-robot systems by identifying key elements of these systems by examining the state of practice along each taxonomical dimension. Expand
Automatic Verification of Autonomous Robot Missions
This paper overviews a software system for the verification of behavior-based controllers in context of chosen hardware and environmental models and demonstrates accurate verification for a mission related to the search for a biohazard. Expand
Designing autonomous robot missions with performance guarantees
This paper describes the need and methods required to construct an integrated software verification and mission specification system for use in robotic missions intended for counter-weapons of massExpand
Performance verification for robot missions in uncertain environments
The challenges involved in building a software tool for verifying the behavior of a multi-robot waypoint mission that includes uncertainly located obstacles and uncertain environment geometry as well as uncertainty in robot motion are addressed. Expand
Toward Initiative Decision-Making for Distributed Human-Robot Teams
The brief history of human-robot teams can be traced through the changing perspective of a robot's role within the team, which has evolved from being treated as a tool to a recent shift toward theExpand
Verifying Performance for Autonomous Robot Missions with Uncertainty
This work proposes an approach to verifying robot missions that shifts the focus from state-based analysis onto the solution of a set of flow equations (Lyons et al. 2012), and presents three validation results that show this approach has strong predictive power; that is, that the verifications it produces can be trusted. Expand
Performance Verification for Behavior-Based Robot Missions
An approach based on behavior-based controllers in a process-algebra framework that avoids state-space combinatorics is presented here, and verification of the robot program in the uncertain environment is reduced to a filtering problem for a Bayesian network. Expand
Getting it right the first time: Robot mission guarantees in the presence of uncertainty
This work extends an approach to establishing performance guarantees for behavior-based controllers in a process-algebra framework to include random variables, and shows how this work can be used to generate a Dynamic Bayesian Network for the coupled system of program and environment model. Expand
A Software Tool for the Design of Critical Robot Missions with Performance Guarantees
The software development framework and the verification algorithm, VIPARS, are described in detail and results are presented for missions including motion and sensing uncertainty, interaction with obstacles, and the use of sensors to guide behavior. Expand
Characterizing performance guarantees for multiagent, real-time systems operating in noisy and uncertain environments
This paper is developing a software framework for verification of performance guarantees for C-WMD missions based on the MissionLab software system and a novel process algebra approach to representing robot programs and operating environments and links this to prior work on metrics for robot performance. Expand