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Shared Control Between Adaptive Autopilots and Human Operators for Anomaly Mitigation

机译：自适应自动驾驶仪与人类运营商的共享控制，用于异常缓解

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摘要

As aerial vehicles become more autonomous, and guidance and navigation systems become increasingly network-centric, there is a need to consider a swift response to the growing forms of anomalies that may occur in these systems. We introduce a shared decision-making and control framework between a human operator and an adaptive autopilot, where the human operator plays a supervisory role and the adaptive autopilot retains the responsibility for low-level regulation and command tracking tasks. The human operator provides key inputs based on a higher-level perception of the anomaly, such as an increased lag in response to command inputs, which are then used by the adaptive autopilot in a suitable manner. The resulting shared control architecture is demonstrated on an unmanned aerial vehicle, whose actuators abruptly change from first-order to second-order due to an anomaly.
机译：随着空中车辆变得更加自主，引导和导航系统变得越来越多地以网络为中心，需要考虑对这些系统中可能发生的不断增长的异常形式的迅速响应。我们在人类运营商和自适应自动驾驶仪之间引入共享决策和控制框架，其中人类运营商发挥着监督作用，自适应自动驾驶仪保留了低级调节和命令跟踪任务的责任。人类运营商基于对异常的更高级别感知提供键输入，例如响应于命令输入的增加的滞后，然后以合适的方式由自适应自动驾驶仪使用。由此产生的共享控制架构在无人驾驶飞行器上进行说明，其致动器由于异常而从一流到二阶变化。

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