%0 Journal Article
%T A Safe and Robust Approach to Shared-Control via Dialogue<br>基于会话的安全、鲁棒共享控制方法
%A Abstract
%A <br>Bernd Krieg-Brückner
%A Hui Shi
%A Robert J Ross
%J 软件学报
%D 2004
%I 
%X In shared-control systems, such as intelligent service robots, a human operator and an automated technical system are interdependently in charge of control. Effective shared control requires complex system architectures that provide safety and robustness in operation, while providing a user-friendly interface--provision of these dual requirements is a non-trivial task. This paper reports on an approach to addressing these issues. A dialogue centric cognitive control architecture is presented, which utilizes both agent-oriented programming and formal methods. The SharC Cognitive Control Architecture is a hybrid design that distributes control of a robot amongst a community of deliberative intentional agents. Since safety is of paramount importance in shared-control systems, high-level safety issues must be addressed within such architectures. To this end, the authors also describe a formally modeled dialogue manager that sits at the heart of the control system. The use of these distinct software paradigms is illustrated, by example, with the demonstration platform: Rolland, the Bremen autonomous wheelchair.
%K shared-control
%K cognitive control architecture
%K Agent-oriented programming
%K formal method
%K hybrid design<br>共享控制
%K 认知控制体系结构
%K 面向代理编程
%K 形式化方法
%K 混成设计
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=7735F413D429542E610B3D6AC0D5EC59&aid=4E57B4DB41AAFC8D&yid=D0E58B75BFD8E51C&vid=23CCDDCD68FFCC2F&iid=59906B3B2830C2C5&sid=961EEFF36C7AED30&eid=AE8A2F3A47BD276F&journal_id=1000-9825&journal_name=软件学报&referenced_num=0&reference_num=48