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36
Towards Adjustable Autonomy for the Real World
, 2003
"... Adjustable autonomy refers to entities dynamically varying their own autonomy, transferring decision-making control to other entities (typically agents transferring control to human users) in key situations. Determining whether and when such transfers-of-control should occur is arguably the funda ..."
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Cited by 121 (42 self)
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Adjustable autonomy refers to entities dynamically varying their own autonomy, transferring decision-making control to other entities (typically agents transferring control to human users) in key situations. Determining whether and when such transfers-of-control should occur is arguably the fundamental research problem in adjustable autonomy. Previous work has investigated various approaches to addressing this problem but has often focused on individual agent-human interactions. Unfortunately, domains requiring collaboration between teams of agents and humans reveal twokey shortcomings of these previous approaches. First, these approaches use rigid one-shot transfers of control that can result in unacceptable coordination failures in multiagent settings. Second, they ignore costs (e.g., in terms of time delays or eects on actions) to an agent's team due to such transfers-ofcontrol.
Awareness in human-robot interactions
- In Proceedings of the IEEE Conference on Systems, Man and Cybernetics
, 2003
"... Abstract – This paper provides a set of definitions that form a framework for describing the types of awareness that humans have of robot activities and the knowledge that robots have of the commands given them by humans. As a case study, we applied this human-robot interaction (HRI) awareness frame ..."
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Cited by 113 (15 self)
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Abstract – This paper provides a set of definitions that form a framework for describing the types of awareness that humans have of robot activities and the knowledge that robots have of the commands given them by humans. As a case study, we applied this human-robot interaction (HRI) awareness framework to our analysis of the HRI approaches used at an urban search and rescue competition. We determined that most of the critical incidents (e.g., damage done by robots to the test arena) were directly attributable to lack of one or more kinds of HRI awareness.
A Survey of Multi-Agent Organizational Paradigms
- The Knowledge Engineering Review
, 2005
"... Many researchers have demonstrated that the organizational design employed by a system can have a significant, quantitative effect on its performance characteristics. A range of organizational strategies have emerged from this line of research, each with different strengths and weaknesses. In this a ..."
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Cited by 103 (2 self)
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Many researchers have demonstrated that the organizational design employed by a system can have a significant, quantitative effect on its performance characteristics. A range of organizational strategies have emerged from this line of research, each with different strengths and weaknesses. In this article we present a survey of the major organizational paradigms used in multi-agent systems. These include hierarchies, holarchies, coalitions, teams, congregations, societies, federations, and matrix organizations. We will provide a description of each, discuss their costs and benefits, and provide examples of how they may be instantiated and maintained. 1
An Agent Infrastructure to Build and Evaluate Multi-Agent Systems: The Java Agent Framework and Multi-Agent System Simulator
, 2001
"... . In this paper, we describe our agent framework and address ..."
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Cited by 21 (3 self)
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. In this paper, we describe our agent framework and address
Adjustable Autonomy Challenges in Personal Assistant Agents: A Position Paper
- IN M. KLUSCH, G. WEISS, & M. ROVATSOS (ED.), COMPUTATIONAL AUTONOMY
, 2004
"... The successful integration and acceptance of many multi-agent systems into daily lives crucially depends on the ability to develop e#ective policies for adjustable autonomy. Adjustable autonomy encompasses the strategies by which an agent selects the appropriate entity (itself, a human user, or a ..."
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Cited by 20 (3 self)
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The successful integration and acceptance of many multi-agent systems into daily lives crucially depends on the ability to develop e#ective policies for adjustable autonomy. Adjustable autonomy encompasses the strategies by which an agent selects the appropriate entity (itself, a human user, or another agent) to make a decision at key moments when an action is required. We present two formulations that address this issue: user-based and agent-based autonomy. Furthermore, we discuss the current and future implications on systems composed of personal assistant agents, where autonomy issues are of vital interest.
An Agent-Based Approach To Tool Integration
- Journal of Software Tools Technology Transfer
, 2004
"... Tool integration is a very di#cult challenge. Problems may arise at di#erent abstraction levels and from several sources such as heterogeneity of manipulated data, incompatible interfaces, or uncoordinated services, to name just a few examples. On the other hand, applications based on the coherent c ..."
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Cited by 14 (10 self)
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Tool integration is a very di#cult challenge. Problems may arise at di#erent abstraction levels and from several sources such as heterogeneity of manipulated data, incompatible interfaces, or uncoordinated services, to name just a few examples. On the other hand, applications based on the coherent composition of activities, components, services, and data from heterogeneous sources are increasingly present in our everyday lives. Consequently, tool integration takes on increasing significance.
Stages of Autonomy Determination
- In IEEE Transactions on Man, Machine & Cybernetics, Part C
"... Abstract—We discuss stages of autonomy determination for software agents that manage and manipulate knowledge in organizations that house other software agents and human knowledge workers. We suggest recognition of potential autonomies in belief-desire-intention (BDI) paradigm and actual reasoning a ..."
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Cited by 13 (9 self)
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Abstract—We discuss stages of autonomy determination for software agents that manage and manipulate knowledge in organizations that house other software agents and human knowledge workers. We suggest recognition of potential autonomies in belief-desire-intention (BDI) paradigm and actual reasoning about autonomy choices decision theoretically. We show how agents might revise their autonomies in light of one another’s autonomy and might also experience new, derived autonomies. We discuss the conditions under which an entire group of agents might have a collective autonomy attitude toward agents outside their group. We believe group attitudes are a novel concept and form a strong basis for developing theories of dynamic organizational structure. We will briefly sketch an outline of a case study that motivates reasoning about autonomies. Index Terms—Autonomy, multiagent systems. I.
On Using Mixed-Initiative Control: A Perspective for Managing Large-Scale Robotic Teams ABSTRACT
"... Prior work suggests that the potential benefits of mixed initiative management of multiple robots are mitigated by situational factors, including workload and operator expertise. In this paper, we present an experiment where allowing a supervisor and group of searchers to jointly decide the correct ..."
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Cited by 10 (3 self)
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Prior work suggests that the potential benefits of mixed initiative management of multiple robots are mitigated by situational factors, including workload and operator expertise. In this paper, we present an experiment where allowing a supervisor and group of searchers to jointly decide the correct level of autonomy for a given situation (“mixed initiative”) results in better overall performance than giving an agent exclusive control over their level of autonomy (“adaptive autonomy”) or giving a supervisor exclusive control over the agent’s level of autonomy (“adjustable autonomy”), regardless of the supervisor’s expertise or workload. In light of prior work, we identify two elements of our experiment that appear to be requirements for effective mixed initiative control of large-scale robotic teams: (a) Agents must be capable of making progress toward a goal without having to wait for human input in most circumstances. (b) The operator control interface must help the human to rapidly understand and modify the progress and intent of several agents.
Computational Adjustable Autonomy for NASA Personal Satellite Assistants
- IN ACM SAC-02
, 2002
"... We will describe a simulator and simulated teamwork among a number of Personal Satellite Assistants (PSA) onboard the simulated space station patrolling for problem detection and isolation. PSAs reason about autonomies of potential helpers while helpers reason about their autonomies for deciding to ..."
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Cited by 8 (4 self)
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We will describe a simulator and simulated teamwork among a number of Personal Satellite Assistants (PSA) onboard the simulated space station patrolling for problem detection and isolation. PSAs reason about autonomies of potential helpers while helpers reason about their autonomies for deciding to help or to break away from prior commitments to help. We describe algorithms for computing PSA autonomies when there are concurrent and conflicting situations. We also offer empirical results about qualities of help a recruiting PSA receives when there are multiple, concurrent problems.
Adjustable autonomy for the real world
- Journal of Artificial Intelligence Research
"... Abstract Adjustable autonomy refers to agents' dynamically varying their own autonomy, transferring decision making control to other entities (typically human users) in key situations. Determining whether and when such transfers of control must occur is arguably the fundamental research questi ..."
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Cited by 6 (0 self)
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Abstract Adjustable autonomy refers to agents' dynamically varying their own autonomy, transferring decision making control to other entities (typically human users) in key situations. Determining whether and when such transfers of control must occur is arguably the fundamental research question in adjustable autonomy. Previous work, often focused on individual agent-human interactions, has provided several different techniques to address this question. Unfortunately, domains requiring collaboration between teams of agents and humans reveals two key shortcomings of these previous techniques. First, these techniques use rigid one-shot transfers of control that can result in unacceptable coordination failures in multiagent settings. Second, they ignore costs (e.g., in terms of time delays or effects of actions) to an agent's team due to such transfers of control. To remedy these problems, this paper presents a novel approach to adjustable autonomy, based on the notion of transfer of control strategy. A transfer of control strategy consists of a sequence of two types of actions: (i) actions to transfer decision-making control (e.g., from the agent to the user or vice versa) (ii) actions to change an agent's pre-specified coordination constraints with others, aimed at minimizing miscoordination costs. The goal is for high quality individual decisions to be made with minimal disruption to the coordination of the team. These strategies are operationalized using Markov Decision Processes to select the optimal strategy given an uncertain environment and costs to individuals and teams. We present a detailed evaluation of the approach in the context of a real-world, deployed multi-agent system that assists a research group in daily activities.
