Tham khảo tài liệu 'multi-robot systems from swarms to intelligent automata - parker et al (eds) part 11', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | User Modelling for Principled Sliding Autonomy in Human-Robot Teams 205 model of L x and how best to use it as a predictor of the human s performance in the next trial. Equation 8 represents the system s belief that the human has failed if they are taking too long to complete a task. This is necessary to detect operator failure since the human operator rarely if ever voluntarily gives up. Additional factors may play a role in E th such as current workload and fatigue. However they would likely play a relatively straightforward additive or multiplicative role in Equation 7 and are thus neglected for now. N t L xt 1 7 M s i P s Fh i -P th cN Rh s Fh i 8 E th Fh i Rh j Fr k M Sh Fh N Rh f9 M -Sh Fh N Rh E th Fh i 1 Rh j 1 Fr k 9 P th cN Rh E tr Fr k where N t Predicted time to complete the task based on a learning curve L fitted to all prior observations. L xt 1 The value of a fitted learning curve for trial t 1 given t prior observations. M s i The probability of s G S -S given i preceding failures less the probability that the autonomous system will request control given s and i. c A constant which determines the time when the system believes the human has failed and the time when it will request control. P th cN Rh The probability that the human will take more than c times s Fh i the expected time to complete the task. Fh i Expected time to complete the task if the human performs th Rh j the i th attempt with j historical attempts and kpreceding Fr k failures by the autonomous system. The Implemented Model. When implementing any method tradeoffs must be made between the fidelity of the model and the difficulty involved in estimating the variables involved. For our initial implementation we set P fcath P fcatr 0 price h price ra and price rt 0 collapsing Equation 1 to a straightforward comparison of E tr and E th . The model of the autonomous system was implemented as described in Equations 2 - 6. However we chose to simplify the human model by .
