This paper presents a Cognitive Availability Aware Mixed-Initiative Controller for remotely operated mobile robots. The controller enables dynamic switching between different levels of autonomy (LOA), initiated by either the AI or the human operator. The controller leverages a state-of-the-art computer vision method and an off-the-shelf web camera to infer the cognitive availability of the operator and inform the AI-initiated LOA switching. This constitutes a qualitative advancement over previous Mixed-Initiative (MI) controllers. The controller is evaluated in a disaster response experiment, in which human operators have to conduct an exploration task with a remote robot. MI systems are shown to effectively assist the operators, as demonstrated by quantitative and qualitative results in performance and workload. Additionally, some insights into the experimental difficulties of evaluating complex MI controllers are presented.

翻译：本文件介绍了遥控移动机器人的认知可获得性意识混合倡议控制器。控制器使AI或人操作者发起不同级别的自主(LOA)之间的动态转换成为可能。控制器利用最先进的计算机视觉方法和现成的网络相机来推断操作器的认知可用性,并告知AI发起的LOA转换。这比以往的混合倡议控制器在质量上有所改进。控制器在一次灾害应对实验中进行了评估,在实验中,人类操作者必须使用远程机器人进行勘探任务。显示管理器系统有效地协助操作者,表现在业绩和工作量的定量和定性结果上。此外,还介绍了对评估复杂的MI控制器的实验困难的一些见解。