Plan Generation for Multi-Robot Missions Requiring Active Operator Involvement
Résumé
This paper extends a constraint-based planning approach to deal with mixed-initiative for complex multi-robot missions. Operators in the loop with multi-robot systems may have to interact intensively: explicitly considering their cognitive load while planning the missions is a critical problem to address. The purpose of this work is to take into account at mission planning time the operators capacity to supervise the mission execution, to ensure efficient and safe operations. We introduce new mental load related metrics in an automatic constraint-based planner. The optimization of these metrics yields better quality plans for the operators to supervise and interact during execution. The planning feasibility and performances are evaluated on realistic scenarios.
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