This paper proposes an architecture that explores a gap in the spectrum of existing strategies for robot control mode switching in adjustable autonomy. In situations where the environment is reasonably known and/or predictable, pre-planning these control changes could relieve robot operators of the additional task of deciding when and how to switch. Such a strategy provides a clear division of labour between the automation and the human operator(s) before the job even begins, allowing for individual responsibilities to be known ahead of time, limiting confusion and allowing rest breaks to be planned. Assigned Responsibility is a new form of adjustable autonomy-based teleoperation that allows the selective inclusion of automated control elements at key stages of a robot operation plan’s execution. Progression through these stages is controlled by automatic goal accomplishment tracking. An implementation is evaluated through engineering tests and a usability study, demonstrating the viability of this approach and offering insight into its potential applications.

中文翻译：

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机器人远程操作控制的分配责任系统。

本文提出了一种体系结构，该体系结构探索了可调整自治中用于机器人控制模式切换的现有策略的差距。在合理已知和/或可预测环境的情况下，预先计划这些控制更改可以使机器人操作员无需再决定何时以及如何进行切换。这样的策略甚至可以在工作开始之前就在自动化和人工之间进行明确的分工，从而可以提前知道个人职责，减少混乱并可以计划休息时间。分配的职责是一种基于可调整的自治的远程操作的新形式，它允许在机器人操作计划执行的关键阶段选择性地包含自动控制元素。通过自动完成目标跟踪，可以控制这些阶段的进度。通过工程测试和可用性研究对实现进行评估，以证明该方法的可行性并提供其潜在应用的见识。