群ロボットのパトロール任務における基地局による状況認識の定量評価指標

抄録

This paper proposes a quantitative performance metric for patrolling missions by robotic swarms. Real-world robotics applications require predictability from human operators at a base station to prevent unexpected robotic behaviors and resultant harmful outputs. However, functions to ensure predictability, such as frequent communication to the base station, may reduce mission performance. The proposed performance metric quantifies the degree of situational awareness at the base station, which is strongly related to predictability. The metric visualizes the advantage of the functions for predictability enhancement and enables trade-off studies between mission performance and predictability from humans. Simulated patrolling missions with two different patrol algorithms exemplified the usage of the proposed metric.