Mixed Initiative Systems for Human-Swarm Interaction: Opportunities and Challenges

Human-swarm interaction (HSI) involves a number of human factors impacting human behaviour throughout the interaction. As the technologies used within HSI advance, it is more tempting to increase the level of swarm autonomy within the interaction to reduce the workload on humans. Yet, the prospective negative effects of high levels of autonomy on human situational awareness can hinder this process. Flexible autonomy aims at trading-off these effects by changing the level of autonomy within the interaction when required; with mixed-initiatives combining human preferences and automation's recommendations to select an appropriate level of autonomy at a certain point of time. However, the effective implementation of mixed-initiative systems raises fundamental questions on how to combine human preferences and automation recommendations, how to realise the selected level of autonomy, and what the future impacts on the cognitive states of a human are. We explore open challenges that hamper the process of developing effective flexible autonomy. We then highlight the potential benefits of using system modelling techniques in HSI by illustrating how they provide HSI designers with an opportunity to evaluate different strategies for assessing the state of the mission and for adapting the level of autonomy within the interaction to maximise mission success metrics.Comment: Author version, accepted at the 2018 IEEE Annual Systems Modelling Conference, Canberra, Australi

Interoperability Among Unmanned Maritime Vehicles: Review and First In-field Experimentation

Complex maritime missions, both above and below the surface, have traditionally been carried out by manned surface ships and submarines equipped with advanced sensor systems. Unmanned Maritime Vehicles (UMVs) are increasingly demonstrating their potential for improving existing naval capabilities due to their rapid deployability, easy scalability, and high reconfigurability, offering a reduction in both operational time and cost. In addition, they mitigate the risk to personnel by leaving the man far-from-the-risk but in-the-loop of decision making. In the long-term, a clear interoperability framework between unmanned systems, human operators, and legacy platforms will be crucial for effective joint operations planning and execution. However, the present multi-vendor multi-protocol solutions in multi-domain UMVs activities are hard to interoperate without common mission control interfaces and communication protocol schemes. Furthermore, the underwater domain presents significant challenges that cannot be satisfied with the solutions developed for terrestrial networks. In this paper, the interoperability topic is discussed blending a review of the technological growth from 2000 onwards with recent authors' in-field experience; finally, important research directions for the future are given. Within the broad framework of interoperability in general, the paper focuses on the aspect of interoperability among UMVs not neglecting the role of the human operator in the loop. The picture emerging from the review demonstrates that interoperability is currently receiving a high level of attention with a great and diverse deal of effort. Besides, the manuscript describes the experience from a sea trial exercise, where interoperability has been demonstrated by integrating heterogeneous autonomous UMVs into the NATO Centre for Maritime Research and Experimentation (CMRE) network, using different robotic middlewares and acoustic modem technologies to implement a multistatic active sonar system. A perspective for the interoperability in marine robotics missions emerges in the paper, through a discussion of current capabilities, in-field experience and future advanced technologies unique to UMVs. Nonetheless, their application spread is slowed down by the lack of human confidence. In fact, an interoperable system-of-systems of autonomous UMVs will require operators involved only at a supervisory level. As trust develops, endorsed by stable and mature interoperability, human monitoring will be diminished to exploit the tremendous potential of fully autonomous UMVs

2020 NASA Technology Taxonomy

This document is an update (new photos used) of the PDF version of the 2020 NASA Technology Taxonomy that will be available to download on the OCT Public Website. The updated 2020 NASA Technology Taxonomy, or "technology dictionary", uses a technology discipline based approach that realigns like-technologies independent of their application within the NASA mission portfolio. This tool is meant to serve as a common technology discipline-based communication tool across the agency and with its partners in other government agencies, academia, industry, and across the world

Who's Got the Bridge? - Towards Safe, Robust Autonomous Operations at NASA Langley's Autonomy Incubator

NASA aeronautics research has made decades of contributions to aviation. Both aircraft and air traffic management (ATM) systems in use today contain NASA-developed and NASA sponsored technologies that improve safety and efficiency. Recent innovations in robotics and autonomy for automobiles and unmanned systems point to a future with increased personal mobility and access to transportation, including aviation. Automation and autonomous operations will transform the way we move people and goods. Achieving this mobility will require safe, robust, reliable operations for both the vehicle and the airspace and challenges to this inevitable future are being addressed now in government labs, universities, and industry. These challenges are the focus of NASA Langley Research Center's Autonomy Incubator whose R&D portfolio includes mission planning, trajectory and path planning, object detection and avoidance, object classification, sensor fusion, controls, machine learning, computer vision, human-machine teaming, geo-containment, open architecture design and development, as well as the test and evaluation environment that will be critical to prove system reliability and support certification. Safe autonomous operations will be enabled via onboard sensing and perception systems in both data-rich and data-deprived environments. Applied autonomy will enable safety, efficiency and unprecedented mobility as people and goods take to the skies tomorrow just as we do on the road today

Semantic-based adaptive mission planning for unmanned underwater vehicles

Current underwater robotic platforms rely upon waypoint-based scripted missions which are described by the operator a-priori. This renders systems incapable of reacting to the unexpected. In this thesis, we claim that the ability to autonomously adapt the decision making process is the key to facilitating the change over from human intervention to intelligent autonomy. We identify goal-based declarative mission planning as an attractive solution to autonomous adaptability because it combines autonomous decision making with higher levels of human interaction. Goal-based mission planning requires the use of abstract knowledge representation and situation awareness to link the prior knowledge provided by the operator with the information coming from the processed sensor data. To achieve this, we propose a semantic-based knowledge representation framework that allows this integration of prior and processed information among all different agents available in the platform. In order to evaluate adaptive mission planning techniques, we also introduce a novel metric which measures the proximity between plans. We demonstrate that this metric is better informed than previous metrics for measuring the adaptation process. In this thesis we implement three different approaches to goal-based mission planning in order to investigate which approach is most appropriate under different circumstances. The first approach, continuous mission planning, focusses on long-term deployment. This approach is based on a continuous re-assessment of the status of the mission environment. Using our proximity metric, we evaluated this approach and show that there is a high degree of similarity between our approach and the humanly driven adaptation, both in a known static environment and in a partially-known dynamic discoverable environment. The second, service-oriented mission planning, makes use of the semantic framework to provide autonomous mission planning for the dynamic discovery of the services published by the different agents in the system. This allows platform independence, easing the manual creation of mission plans, and robustness to changes. We show that this approach produces the same plans as the baseline which was explicitly provided with the platform configuration. The last approach, mission plan repair, handles the scenario where small changes occur in the mission environment and there are limited resources for planning. We develop and deploy a mission plan repair approach within a semantic-based autonomous planning system in a real underwater vehicle. Experiments demonstrate that the integrated system is capable of providing mission adaptation for maintaining the operability of the host platform in the face of unexpected events

Funding and Strategic Alignment Guidance for Infusing Small Business Innovation Research Technology Into Aeronautics Research Mission Directorate Projects at NASA Glenn Research Center for 2015

This document is intended to enable the more effective transition of NASA Glenn Research Center (GRC) SBIR technologies funded by the Small Business Innovation Research (SBIR) program as well as its companion, the Small Business Technology Transfer (STTR) program into NASA Aeronautics Research Mission Directorate (ARMD) projects. Primarily, it is intended to help NASA program and project managers find useful technologies that have undergone extensive research and development (RRD), through Phase II of the SBIR program; however, it can also assist non-NASA agencies and commercial companies in this process. aviation safety, unmanned aircraft, ground and flight test technique, low emissions, quiet performance, rotorcraf