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- W3135575787 abstract "In this work we introduce the concept of Robot Vitals and propose a framework for systematically quantifying the performance degradation experienced by a robot. A performance indicator or parameter can be called a Robot Vital if it can be consistently correlated with a robot's failure, faulty behaviour or malfunction. Robot Health can be quantified as the entropy of observing a set of vitals. Robot vitals and Robot health are intuitive ways to quantify a robot's ability to function autonomously. Robots programmed with multiple levels of autonomy (LOA) do not scale well when a human is in charge of regulating the LOAs. Artificial agents can use robot vitals to assist operators with LOA switches that fix field-repairable non-terminal performance degradation in mobile robots. Robot health can also be used to aid a tele-operator's judgement and promote explainability (e.g. via visual cues), thereby reducing operator workload while promoting trust and engagement with the system. In multi-robot systems, agents can use robot health to prioritise robots most in need of tele-operator attention. The vitals proposed in this paper are: rate of change of signal strength; sliding window average of difference between expected robot velocity and actual velocity; robot acceleration; rate of increase in area coverage and localisation error." @default.
- W3135575787 created "2021-03-15" @default.
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- W3135575787 date "2021-03-08" @default.
- W3135575787 modified "2023-09-27" @default.
- W3135575787 title "Robot Vitals and Robot Health: An Intuitive Approach to Quantifying and Communicating Predicted Robot Performance Degradation in Human-Robot Teams" @default.
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- W3135575787 doi "https://doi.org/10.1145/3434074.3447181" @default.
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