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سند علمی

Hierarchical Approach to Transfer of Control in Semi-Autonomous Systems

Kyle Hollins Wray, Luis Enrique Pineda, Shlomo Zilberstein

چکیده

Semi-Autonomous Systems (SAS) describe a class of systems that are explicitly controlled by both human and agent actors, incorporating the distinct capabilities of each. They are designed for domains that require quick and safe transfer of control between the agent and human, and embed control transfer decisions in the overall high-level plan. We formally define SAS as a hierarchical model and its properties. We discuss how micro-level transfer of control and macro-level path planning can be solved together. Finally, we explore how SAS can be applied to semi-autonomous vehicles.

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