Human Planning and Coordination in Spatial Search Problems

Please use this identifier to cite or link to this item: https://ir.lib.ncu.edu.tw/handle/987654321/109228

Title:	Human Planning and Coordination in Spatial Search Problems
Authors:	曾國師;Tseng, Kuo-Shih;Mettler, Bérénice
Contributors:	理學院數學系
Keywords:	Autonomous mobile robots;Human-machine interface;Information analysis;Machine learning;Telerobotics
Date:	2016-01-01
Issue Date:	2026-04-23 16:16:44 (UTC+8)
Publisher:	IFAC Secretariat;Elsevier Ltd
Abstract:	摘要： Search is an essential technology for rescue and other mobile robot applications. Many robotic search and rescue systems rely on teleoperation. How to cover the search space efficiently is one of the key problems in search tasks. Search is also central to humans' daily activities. Analyzing human search behavior through teleoperation could help improve understanding of human search strategies as well as autonomous search algorithms. This research proposes a novel framework to model and analyze humans' search behavior. The framework is based on structure learning and K-means clustering. The analysis of the experimental data demonstrates that (1) humans are able to solve the complex search task by breaking it up into smaller tasks; and (2) humans consider both coverage and motion cost while searching. The results are used to design near optimal subgoals to guide humans in searching. Experiments showed that the humans' search performance is improved with the subgoals assistance. 出版者： Elsevier Ltd 出版日期： 2016 出處： IFAC-PapersOnLine, 2016, Vol.49 (32), p.222-227 資源來源： Alma/SFX Local Collection 版權： 2016 識別號： ISSN: 2405-8963 識別號： ISSN: 2405-8971 識別號： EISSN: 2405-8963 識別號： DOI: 10.1016/j.ifacol.2016.12.218
Appears in Collections:	[Department of Mathematics] journal & Dissertation

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