Multiagent Adjustable Autonomy Framework (MAAF) for multi robot, multi human teams
This paper describes the ongoing development of a multiagent adjustable autonomy framework (MAAF) for multi robot, multi human teams performing tactical maneuvers. The challenge being addressed in this SBIR Phase I R&D project is how to exploit fully the unique capabilities of heterogeneous teams composed of a mixture of robots, agents or persons (RAPs) that is, how to improve the safety, efficiency, reliability and cost of achieving mission goals while maintaining dynamic adaptation to the unique limitations and contingencies of a real world operating environment. Our response to this challenge is the creation of a new infrastructure that will facilitate cooperative and collaborative performance of human and robots as equal team partners through the application of advances in goal oriented, multiagent planning and coordination technology. At the heart of our approach is the USC Teamcore Group's Machinetta, a state of the art robot proxy framework with adjustable autonomy. Machinetta facilitates robot human role allocation decisions and collaborative sharing of team tasks in the non deterministic and unpredictable military environment through the use of a domain independent teamwork model that supports flexible teamwork. This paper presents our innovative proxy architecture and its constituent algorithms, and also describes our initial demonstration of technical feasibility in a realistic simulation scenario.
2008 International Symposium on Collaborative Technologies and Systems