Adjustable Autonomy for UAV Supervision Applications Through Mental Workload Assessment Techniques

摘要

In recent years, unmanned aerial vehicles have received a significant attention in the research community, due to their adaptability in different applications, such as surveillance, disaster response, traffic monitoring, transportation of goods, first aid, etc. Nowadays, even though UAVs can be equipped with some autonomous capabilities, they often operate in high uncertainty environments in which supervisory systems including human in the control loop are still required. Systems envisaging decision-making capabilities and equipped with flexible levels of autonomy are needed to support UAVs controllers in monitoring operations. The aim of this paper is to build an adjustable autonomy system able to assist UAVs controllers by predicting mental workload changes when the number of UAVs to be monitored highly increases. The proposed system adjusts its level of autonomy by discriminating situations in which operators' abilities are sufficient to perform UAV supervision tasks from situations in which system suggestions or interventions may be required. Then, a user study was performed to create a mental-workload prediction model based on operators' cognitive demand in drone monitoring operations. The model is exploited to train the system developed to infer the appropriate level of autonomy accordingly. The study provided precious indications to be possibly exploited for guiding next developments of the adjustable autonomy system proposed.