Liu, Rui and Zekun, Cai and Lewis, Michael and Lyons, Joseph and Sycara, Katia
(2019)
Trust Repair in Human-Swarm Teams+.
In: 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN).
Abstract
Swarm robots are coordinated via simple control laws to generate emergent behaviors such as flocking, rendezvous, and deployment. Human-swarm teaming has been widely proposed for scenarios, such as human-supervised teams of unmanned aerial vehicles (UAV) for disaster rescue, UAV and ground vehicle cooperation for building security, and soldier-UAV teaming in combat. Effective cooperation requires an appropriate level of trust, between a human and a swarm. When an UAV swarm is deployed in a real-world environment, its performance is subject to real-world factors, such as system reliability and wind disturbances. Degraded performance of a robot can cause undesired swarm behaviors, decreasing human trust. This loss of trust, in turn, can trigger human intervention in UAVs' task executions, decreasing cooperation effectiveness if inappropriate. Therefore, to promote effective cooperation we propose and test a trust-repairing method (Trust-repair) restoring performance and human trust in the swarm to an appropriate level by correcting undesired swarm behaviors. Faulty swarms caused by both external and internal factors were simulated to evaluate the performance of the Trust-repair algorithm in repairing swarm performance and restoring human trust. Results show that Trust-repair is effective in restoring trust to a level intermediate between normal and faulty conditions.
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Details
| Item Type: |
Conference or Workshop Item
(Paper)
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| Status: |
Published |
| Creators/Authors: |
|
| Date: |
October 2019 |
| Date Type: |
Publication |
| Journal or Publication Title: |
28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) |
| Publisher: |
IEEE |
| Page Range: |
pp. 1-6 |
| Event Title: |
2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) |
| Event Type: |
Conference |
| Schools and Programs: |
School of Computing and Information > Information Science |
| Refereed: |
Yes |
| Date Deposited: |
15 Jun 2020 14:17 |
| Last Modified: |
15 Jun 2020 14:17 |
| URI: |
http://d-scholarship.pitt.edu/id/eprint/39101 |
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