Masters Theses

Abstract

"An algorithm to automatically generate behaviors for robotic vehicles has been created and tested in a laboratory setting. This system is designed to be applied in situations where a large number of robotic vehicles must be controlled by a single operator. The system learns what behaviors the operator typically issues and offers these behaviors to the operator in future missions. This algorithm uses the symbolic clustering method Gram-ART to generate these behaviors. Gram-ART has been shown to be successful at clustering such standard symbolic problems as the mushroom dataset and the Unix commands dataset. The algorithm was tested by having users complete exploration and tracking missions. Users were brought in for two sessions of testing. In the first session, they familiarized themselves with the testing interface and generated training information for Gram-ART. In the second session, the users ran missions with and without the generated behaviors to determine what effect the generated behaviors had on the users' performance. Through these human tests, missions with generated behaviors enabled are shown to have reduced operator workload over those without. Missions with generated behaviors required fewer button presses than those without while maintaining a similar or greater level of mission success. Users also responded positively in a survey after the second session. Most users' responses indicated that the generated behaviors increased their ability to complete the missions"--Abstract, page iii.

Advisor(s)

Wunsch, Donald C.

Committee Member(s)

Moss, Randy Hays, 1953-
Waddill, George Daniel

Department(s)

Electrical and Computer Engineering

Degree Name

M.S. in Computer Engineering

Sponsor(s)

Boeing Company
National Science Foundation (U.S.)
M. K. Finley Missouri Endowment
Missouri University of Science and Technology. Intelligent Systems Center

Publisher

Missouri University of Science and Technology

Publication Date

2010

Pagination

viii, 92 pages

Note about bibliography

Includes bibliographical references (pages 102-109).

Rights

© 2010 Paul M. Robinette, All rights reserved.

Document Type

Thesis - Open Access

File Type

text

Language

English

Library of Congress Subject Headings

Adaptive control systems
User interfaces (Computer systems) -- Design
Mobile robots
Signal processing

Thesis Number

T 10215

Print OCLC #

862119486

Electronic OCLC #

862119654

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