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Mercier, Stéphane (2011)
Languages: French
Types: Article
Subjects: Initiative mixte, Partage d'autorité, Interaction opérateur-robot, Réseaux de Petri, Mixed-initiative, Authority sharing, Human-robot interactions, Petri nets, 621.39
Dans le cadre de missions réalisées conjointement par un agent artificiel (robot, drone) et un agent humain, nous présentons un contrôleur de la dynamique de l'autorité, fondé sur un graphe de dépendances entre ressources génériques contrôlables par les deux agents, dont l'objectif est d'adapter le comportement de l'agent artificiel ou de l'agent humain en cas de conflit d'autorité sur ces ressources. Nous définissons l'autorité relative de deux agents par rapport au contrôle d'une ressource, ainsi que la notion de conflit d'autorité sur une ressource. La détection d'un conflit déclenche une révision du plan de l'agent artificiel, fondée sur l'état courant des ressources et des relations d'autorité. Le contrôleur de la dynamique de l'autorité est mis en oeuvre par l'outil MNMS (Multiple (Petri) Nets Management System), développé au cours de la thèse, qui permet la manipulation des ressources génériques, dépendances entre ressources et relations d'autorité, ainsi que l'intégration au sein d'une architecture robotique. In the context of missions accomplished jointly by an artificial agent (robot, UAV) and a human agent, we focus on a controller of the authority dynamics based on a dependence graph of generic resources that can be controlled by both agents. The controller is designed to tune the behaviours of the artificial agent or of the human agent in case of an authority conflict occurring on these resources. The relative authority of two agents regarding the control of a resource is defined so as the authority conflict on a resource. Conflict detection triggers a revision of the artificial agent's plan that is based on the current state of the resources and authority relationships. The controller of the authority dynamics is implemented with MNMS (Multiple (Petri) Nets Management System). This tool allows generic resources, resource dependencies and authority relationships to be manipulated and can be integrated within a robotic software architecture.

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