Review and synthesis of considerations in architecting heterogeneous teams of humans and robots for optimal space exploration

IEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews

Volumn 37, Issue 5, 2007, Pages 779-793

  Shah, Julie Ann ^a   Saleh, Joseph H ^b   Hoffman, Jeffrey A ^a  

^a Massachusetts Institute of Technology   (United States)

^b Georgia Institute of Technology   (United States)

Author keywords

Extraterrestrial exploration; Function allocation; Man machine systems; Robots; System analysis and design

Indexed keywords

NASA; ROBOTS; SPACE RESEARCH; SYSTEMS ANALYSIS;

EXTRATERRESTRIAL EXPLORATION; FUNCTION ALLOCATION; HUMAN-ROBOT INTERACTIONS; HUMAN-ROBOT SYSTEMS;

MAN MACHINE SYSTEMS;

EID: 34548254952     PISSN: 10946977     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCC.2007.900644     Document Type: Review

References (69)

1. C. Culbert, J. Rochlis, F. Rehnmark, D. Kortenkamp et al., "Activities of the NASA Exploration Team Human-Robotics Working Group," presented at Space 2003, Long Beach, CA, Sep. 23-25.
2. G. A. Landis, "Robots and humans: Synergy in planetary exploration," presented at the Conf.Hum. Exploration, Space Technol.Appl. Int. Forum, Albuquerque, NM, Feb. 2-6, 2003.
3. S. H. Mody and H. L. Bussey, "An overview of space robotic operations principles for human spaceflight and exploration," presented at the First Space Exploration Conf., Orlando, FL, 2005.
4. NASA Ames Computational Science Division, "Intelligence report," NASA - Computational Sciences Division. Moffett Field, CA, pp. 6-17, 2004/ 2005.
5. C. Weisbin, D. Lavery, and G. Rodriguez, "Robots in space: US mission requirement in technology into the next century," Auton. Robots, vol. 4, pp. 159-173, 1997.
6. L. Young and G. Briggs, "Smart rotorcraft field assistants for terrestrial and planetary science," presented at the IEEE Aerosp. Conf., Big Sky, MT, 2004.
7. R. Burridge, J. Graham, K. Shillcutt, R. Hirsh, and D. Kortenkamp, "Experiments with an EVA assistant robot," presented at the 7th Int. Symp. Artificial Intell., Robot. Autom. Space (i-SAIRAS 2003), Nara, Japan.
8. J. Burke, R. R. Murphy, E. Rogers, J. Scholtz, and V. Lumelsky, "Final report for the DARPA/NSF interdisciplinary study on human-robot interaction," IEEE Syst., Man, Cybern. C, vol. 34, no. 2, pp. 103-112, May 2004.
9. V. Potkonjak, S. Tzafestas, and D. Kostic, "Concerning the primary and secondary objectives in robot task definition," Math. Comput. Simul. vol. 54, nos. 1-3, pp. 145-157, 2000.
10. D. Dori, Object-Process Methodology - A Holistic Systems Paradigm. Heidelberg, Germany: Springer-Verlag, 2002.
11. S. Gottschlich and C. Ramos, "Assembly and task planning: A taxonomy," IEEE Robot. Autom. Mag., vol. 1, no. 3, pp. 4-12, Sep. 1994.
12. B. M. Ghosh and M. G. Helander, "A systems approach to task allocation of human-robot interaction in manufacturing," J. Manuf. Syst., vol. 5, pp. 41-49, 1986.
13. G. Rodriguez and C. Weisbin, "A new method for human-robot system performance," J. Auton. Robots, vol. 14, pp. 165-178, Mar. 2003.
14. A. Acquisti, M. Sierhuis, W. Clancey, and J. Bradshaw, "Agent based modeling of collaboration and work practices onboard the international space station," presented at the 11th Conf. Comput.-Gener. Forces Behav. Represent., Orlando, FL, 2002.
15. J. Kolecki and M. Siebert, "Overview of Mars system-environment interactions," presented at the 27th AIAA Plasmadyn. Lasers Conf., New Orleans, LA, 1996, Paper AIAA 96-2333.
16. R. Chatila, S. Lacroix, T. Simeon, and M. Herrb, "Planetary exploration by a mobile robot: Mission teleprogramming and autonomous navigation," Auton. Robots, vol. 17, no. 4, pp. 315-337, 1998.
17. K. J. Vincente, Cognitive Work Analysis: Towards Safe, Productive, and Healthy Computer-Based Work. Hillsdale, NJ: Lawrence Erlbaum, 1999.
18. B. Nardi, "Studying context: A comparison of activity theory, situated action models, and distributed cognition," in Proc. East-West Int. Conf. Hum.-Comput. Interact. St. Petersburg, Russia: Int. Centre Sci. Tech. Inf., vol. 2, 1992, pp. 352-359.
19. J. E. Bardram, "Plans as situated action: An activity theory approach to workflow systems," presented at the 5th Eur. Conf. Comput. Supported Cooperative Work (ECSCW 1997) Conf. Dordrecht, The Netherlands.
20. L. Suchman, "Plans and situated action ten years on," J. Learn. Sci., vol. 12, no. 2, pp. 259-264, 2003.
21. J. Allen and G. Ferguson, "Actions and events in interval temporal logic," J. Logic Comput., vol. 4, no. 5, pp. 531-579, 1994.
22. R. Simmons and D. Apfelbaum, "A task description language for robot control," Conf. Intell. Robot. Syst. (IROS), Vancouver, CA, 1998.
23. E. Coste-Maniere, B. Espiau, and E. Rutten, "A task-level robot programming language and its reactive execution," in Proc. 1992 IEEE Int. Conf. Robot. Auton., Nice, France, pp. 2751-2756.
24. M. Nicolescu and M. Mataric, "Learning and interaction in human-robot domains," IEEE Trans. Syst., Man, Cybern., vol. 31, no. 5, pp. 419-430, Sep. 2001.
25. M. Allender. (2005, May). STS-49, the rescue of Intelsat-VI [Online]. Available: http://uu.cx/flight/49/
26. T. B. Sheridan, Humans and Automation: Systems Design and Research Issues. New York: Wiley, 2002.
27. M. J. Mataric, "Learning in behavior-based multi-robot systems: Policies, models and other agents," J. Cogn. Syst. Res., vol. 2, pp. 81-93, 2001.
28. A. L. Newton, C. Nehaniv, and K. Dautenhahn, "The robot in the swarm: An investigation into agent embodiment within virtual robotic swarms," in Proc. ECAL 2003. Lecture Notes in Artificial Intelligence, vol. 2801. Berlin, Germany: Springer-Verlag, pp. 829-838.
29. T. Quick and K. Dautenhahn, "Making embodiment measurable," presented at the 4 Fachtagung der Gesellschaft für Kognitionswissenschaft, Bielefeld, Germany, 1999.
30. K. Dautenhahn, B. Ogden, and T. Quick, "From embodied to socially embedded agents," Cogn. Syst. Res., vol. 3, no. 3, pp. 397-428, 2002.
31. MacDonald Dettwiler Space and Advanced Robotics, Ltd. (2005 Mar.). The shuttle remote manipulator system - The canadarm, [Online]. Available: http://www.ieee.ca/millennium/canadarm/ canadarm_technical.html.
32. H. Huang, E. Messina, R. Wade, R. English, and B. Novak, "Autonomy measures for robots," presented at the IMECE: Int. Mech. Eng. Congr., Anaheim, CA, Nov. 13-19, 2004.
33. H. Huang, E. Messina, and J. Albus, "Toward a generic model for autonomy levels for unmanned systems (ALFUS)," presented at the 2003 PerMIS Workshop, Gaithersburg, MD, Aug. 16-18.
34. S. Franklin and A. Graesser, Is it an agent, or just a program? A taxonomy for autonomous agents in Intelligent Agents III: Agent Theories, Architectures, and Languages, J. Meuller, Ed. Berlin, Germany: Springer-Verlag, 1997.
35. K. S. Barber and C. E. Martin, "Agent autonomy: Specification, measurement, and dynamic adjustment," in Proc. Auton. Control Softw. Workshop Auton. Agents (Agents 1999). Seattle, WA, pp. 8-15.
36. S. Thrun, "Toward a framework for human-robot interaction," Hum.- Comput. Interact., vol. 19, pp. 9-24, 2004
37. S. Brainov and H. Hexmoor, "Quantifying relative autonomy in multiagent interaction," presented at the UJCAI 2001 Workshop Auton., Delegation, Control: Interact. Auton. Agents, Seattle, WA, 2001.
38. A. Steinfeld, T. Fong, D. Kaber, M. Lewis, J. Scholtz, A. Schultz, and M. Goodrich, "Common metrics for human-robot interaction," presented at the 1st ACM SIGCHI/SIGART Conf. Hum.-Robot Interact., Salt Lake City, UT, 2006.
39. D. R. Olsen Jr. and M. A. Goodrich, "Metrics for evaluating human-robot interaction," presented at the PERMIS 2003, Gaithersburg, MD, Sep.
40. R. Parasuraman, T. B. Sheridan, and C. D. Wickens, "A model for types and levels of human interaction with automation," IEEE Trans. Syst., Man, Cybern. A, Syst. Hum., vol. 30, no. 3, pp. 286-297, May 2000.
41. T. Fong, C. Thorpe, and C. Baur, "Robot as partner: Vehicle tele-operation with collaborative control," presented at the 2002 NRL Workshop Multi-Robot Syst., Washington, DC.
42. K. S. Barber, A. Goel, T. J. Graser, T. H. Liu, R. H. Macfadzean, C. E. Martin, and S. Ramaswamy, "Sensible agents," in Proc. 1997 IEEE Int. Conf. Syst., Man, Cybern., Orlando, FL, Oct., pp. 4146-4151.
43. J. Scholtz, "Theory and evaluation of human-robot interactions," presented at the Hawaii Int. Conf. Syst. Sci., Honolulu, HI, Jan. 2003.
44. V. Sridharan and P. Mohanavadivu, "Some statistical characteristics of a repairable, standby, human and machine system," IEEE Trans. Rel. vol. 47, no. 4, pp. 431-435, Dec. 1998.
45. B. Gerkey and M. J. Mataric, "A formal analysis and taxonomy of task allocation in multi-robot systems," Int. J. Robot. Res., vol. 23, no. 9, pp. 939-954, 2004.
46. D. E. Smith, J. Frank, and A. K. Jonsson, "Bridging the gap between planning and scheduling," Knowl. Eng. Rev., vol. 15, no. 1, pp. 47-83, 2000.
47. K. Erol, J. Hendler, and D. Nau, "Semantics for hierarchical task network planning," Dept. Comput. Sci. Univ. Maryland. College Park, Tech. Rep. CSTR-3239, 1994.
48. K. Erol, J. Hendler, and D. Nau, "UMCP: A sound and complete procedure for hierarchical task-network planning," in Proc. 2nd Int. Conf. A.I. Planning Syst., 1994, pp. 249-254.
49. A. Mali, "Hierarchical task-network planning as satisfiability," presented at the Eur. Conf. Planning (ECP), Durham, U.K., 1999.
50. R. Effinger, A. Hofmann, and B. Williams, "Progress towards task-level collaboration between astronauts and their robotic assistants," presented at the ISAIRAS 2005 Conf., Munich, Germany, Sep. 5-8.
51. B. Williams, P. Kim, M. Hofbaur, J. How, J. Kennell, J. Loy, R. Ragno, J. Stedl, and A. Walcottt, "Model-based reactive programming of cooperative vehicles for Mars exploration," presented at the ISAIRAS 2001, Montreal, QC, Canada.
52. P. Kim, B. Williams, and M. Abramson, "Executing reactive,model-based programs through graph-based temporal planning," presented at the IJCAI 2001, Menlo Park, CA.
53. J. Carlson and R. R. Murphy, "Reliability analysis of mobile robots," in Proc. 2003 IEEE Int. Conf. Robot. Autom., pp. 274-281.
54. C. Carreras and I. D. Walker, "Interval methods for fault-tree analysis in robotics," IEEE Trans. Robot. Autom., vol. 50, no. 1, pp. 3-11, Mar. 2001.
55. B. S. Dhillon and A. R. M. Fashandi, "Safety and reliability assessment techniques in robotics," Robotica, vol. 15, pp. 701-708, 1997.
56. B. S. Dhillon and N. Yang, "Reliability analysis of a repairable robot system," J. Qual. Maintenance Eng., vol. 2, no. 2, pp. 30-37, 1996.
57. C. Ntuen and E. Park, "A formal method to characterize robot reliability," in Proc. Annu. Reliab. Maintainability Symp., 1993, pp. 395-398.
58. D. L. Schneider, D. Tesar, and J.W. Barnes, "Development and testing of a reliability performance index for modular robotic systems," in Proc. Annu Reliabil. Maintainability Symp., Anaheim, CA, 1994, pp. 263-271.
59. I. D. Walker and J. R. Cavallaro, "The use of fault trees for the design of robots for hazardous environments," in Proc. Annu. Reliabil. Maintainability Symp., 1996, pp. 229-235.
60. F. Aghazadeh, R. Chapleski, and R. Hirschfeld, "A hazard analysis system for robotic work cells," Hum. Factors Ergon. Manuf., vol. 8, no. 4, pp. 232-330, 1998.
61. K. Ikuta et al., "Safety evaluation method of human-care robot control," in Proc. Int. Symp. Micromechatron. Hum. Sci., 2000, pp. 119-127.
62. Y. Yamada, T. Yamamoto, T. Morizono, and Y. Umetani, "FTA-based issues on securing human-safety in a human/robot coexistence system," in Proc. IEEE Syst., Man, Cybern., 1999, pp. 1068-1063.
63. J. H. Saleh, D. E. Hastings, and D. J. Newman, "Flexibility in system design and implications for aerospace systems," Acta Astron., vol. 53, pp. 927-944, 2003.
64. J. Saleh, E. Lamassoure, and D. Hastings, "Space systems flexibility provided by on-orbit servicing: Part I," J. Spacecraft Rockets, vol. 39, no. 4, pp. 551-560, 2002.
65. J. Saleh, E. Lamassoure, and D. Hastings, "Space systems flexibility provided by on-orbit servicing: Part II," J. Spacecraft Rockets, vol. 39, no. 4, pp. 561-570, 2002.
66. J. Bresina, K. Golden, D. E. Smith, and R. Washington, "Increased flexibility and robustness ofMars rovers," presented at the 5th Int. Symp. Artif. Intell., Robot. Autom. Space, Noordwijk, The Netherlands, 1999.
67. G. Rodriguez, C. R. Weisbin, and R.W. Easter, "Anewmethod for human-robot system resiliency evaluation," Jet Propulsion Lab., Pasadena, CA, JPL Publication 02-26, 2002.
68. J. Drury, J. Scholtz, and H. Yanco, "Awareness in human-robot interactions," in Proc. IEEE Int. Conf. Syst., Man, Cybern., vol. 1, Oct. 2003, pp. 912-918.
69. J. L. Drury, J. Scholtz, and H. A. Yanco, "Applying CSCW and HCI techniques to human-robot interaction," presented at the CHI 2004 Workshop Shaping Hum.-Robot Interact., Vienna, Austria, Apr. 2004.