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MOMDP-based target search mission taking into account the human operator's cognitive state

Ubaldino de Souza, Paulo Eduardo and Ponzoni Carvalho Chanel, Caroline and Dehais, Frédéric MOMDP-based target search mission taking into account the human operator's cognitive state. (2015) In: 27th IEEE International Conference on Tools with Artificial Intelligence (ICTAI 2015), 9 November 2015 - 11 November 2015 (Vietri sul Mare, Italy).

(Document in English)

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Official URL: http://dx.doi.org/10.1109/ICTAI.2015.109


This study discusses the application of sequential decision making under uncertainty and mixed observability in a mixed-initiative robotic target search application. In such a robotic mission, two agents, a ground robot and a human operator, must collaborate to reach a common goal using, each in turn, their recognized skills. The originality of the work relies in considering that the human operator is not a providential agent when the robot fails. Using the data from previous experiments, a Mixed Observability Markov Decision Process (MOMDP) model was designed, which allows to consider aleatory failure events and the partial observable human operator's state while planning for a long-term horizon. Results show that the collaborative system was in general able to successfully complete or terminate the mission, even when many simultaneous sensors, devices and operators failures happened. So, the mixed-initiative framework highlighted in this study shows the relevancy of taking into account the cognitive state of the operator, which permits to compute a policy for the sequential decision problem which prevents to re-planning when unexpected (but known) events occurs.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to the IEEE (Institute of Electrical and Electronics Engineers). This paper is available at : http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7372205&isnumber=7372095 “© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.”
HAL Id:hal-01264111
Audience (conference):International conference proceedings
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Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
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Deposited On:28 Jan 2016 16:06

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