A distributed monitoring approach for human interaction with multi-robot systems

Prashanth Krishnamurthy, Farshad Khorrami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A novel methodology to enable robust and seamless human-robot interaction in the context of multi-robot systems (or swarms) is introduced based on a distributed multi-agent monitoring approach. Through real-time monitoring by each agent of other agents in its observable neighborhood, anomalies (due to malfunctions, cyber-attacks, etc.) in behavior of agents are detected within a probabilistic framework. In the proposed approach, anomaly likelihood estimation is based on how rational/explainable an observed agent's behavior is within the context of the estimated overall situational awareness. A distributed architecture is utilized wherein each agent bases its estimation of other agents' anomaly likelihoods on information currently available to the agent (e.g., from sensors, communications from other agents, etc.).

Original languageEnglish (US)
Title of host publicationHRI 2017 - Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction
PublisherIEEE Computer Society
Pages173-174
Number of pages2
ISBN (Electronic)9781450348850
DOIs
StatePublished - Mar 6 2017
Event12th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2017 - Vienna, Austria
Duration: Mar 6 2017Mar 9 2017

Publication series

NameACM/IEEE International Conference on Human-Robot Interaction
ISSN (Electronic)2167-2148

Other

Other12th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2017
CountryAustria
CityVienna
Period3/6/173/9/17

Keywords

  • collaboration
  • multi-agent systems
  • prototyping/implementation
  • real-time monitoring
  • safety-critical systems

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • Cite this

    Krishnamurthy, P., & Khorrami, F. (2017). A distributed monitoring approach for human interaction with multi-robot systems. In HRI 2017 - Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction (pp. 173-174). (ACM/IEEE International Conference on Human-Robot Interaction). IEEE Computer Society. https://doi.org/10.1145/3029798.3038327