Transcript defacto
The DEFACTO System:
Training Incident Commanders
Nathan Schurr
Janusz Marecki, Milind Tambe, Nikhil
Kasinadhuni, and J. P. Lewis
University of Southern California
Paul Scerri
Carnegie Mellon University
Outline
Motivation and Domain
DEFACTO
Team Level Adjustable Autonomy
Experiments with DEFACTO
Conclusions
Motivation: Help Incident
Commanders
Incident Commander
First Response
Disaster Rescue Scenario
Urban Environment
Large Scale
Crime Scene
Incident commander must control situation,
monitor situation, and allocate resources
Goal: Initially a Training Simulation
Later: Decision Support/Replacement
LAFD Exercise: Simulations by
People Playing Roles
Aims of DEFACTO
LAFD Exercise Challenges
Key Exercise Components
Personnel Heavy
Smaller Scale
Low Fidelity Environment
Communication
Allocation
Agent-teams replace people playing roles
Demonstrating Effective Flexible Agent
Coordination of Teams via Omnipresence
Outline
Motivation and Domain
DEFACTO
Team Level Adjustable Autonomy
Experiments with DEFACTO
Conclusions
DEFACTO Architecture
Disaster Rescue Simulation:
USC Map, Different underlying simulators
Statistics
Challenges in Extending to
Human-Agent Teams
Teamwork
Communication
Role Allocation
Agent team to incorporate human
Adjustable Autonomy (Scerri et al JAIR
2002)
Interface
DEFACTO
Teamwork Proxies
Machinetta
Flexible Interaction
Continued development with CMU
Used in many other domains – UAVs, sensor nets etc.
Team Level Adjustable Autonomy Strategies
Dynamic Strategy Selection
Omni-Viewer
2D – Standard with Simulator
3D – Developed by us
Interaction
DEFACTO Architecture
Proxy Architecture
Abstracted Theories of Teamwork (Scerri et al AAMAS 03)
Communication: communication with other proxies
Coordination: reasoning about team plans and communication
State: the working memory of the proxy
Adjustable Autonomy: reasoning about whether to act
autonomously or pass control to the team member
RAP Interface: communication with the team member
Other
Proxies
Communication
RAP Interface
State
Coordination
Adjustable Autonomy
RAP
Teamwork Proxies
Higher level TOP
Reuse across domain
Flexible Teamwork (Tambe JAIR 97)
Communication
Allocation
Joint Intentions (Cohen & Levesque 1991)
Role allocation algorithms (Xu et al AAMAS 2005)
Machinetta
Platform Independent
Modular Structure
Downloadable – Free, Publicly available
Outline
Motivation and Domain
DEFACTO
Team Level Adjustable Autonomy
Experiments with DEFACTO
Conclusions
Adjustable Autonomy(AA)
Strategies for Teams
Agents dynamically adjust own level of
autonomy
Agents act autonomously, but also...
Give up autonomy, transferring control to
humans
When to transfer decision-making control
Whenever human has superior expertise
Yet, too many interrupts also problematic
Previous: Individual agent-human interaction
AA: Novel Challenges in
Teams
Transfer of control strategies for AA in teams
Planned sequence of transfers of control
AT - Team level A strategy
H - Human strategy for all tasks
AH - Individual A followed by H
ATH - Team level A strategy followed by H
Goal: Improve Team Performance
DEFACTO Architecture
Omni-Viewer
DEFACTO Movie
Outline
Motivation and Domain
DEFACTO
Team Level Adjustable Autonomy
Experiments with DEFACTO
Conclusions
Experiments
Initial evaluation of system and of strategies
Details
3 Subjects
Allocation Viewer
Same Map for each scenario
Building size and location
Initial position of fires
4, 6, and 10 agents
A, H, AH, ATH Strategies
Averaged over 3 runs
Empirical Studies with Users
Subject B
Subject A
Buildings Saved
250
200
150
100
50
0
3
5
7
9
300
250
200
150
100
50
0
3
11
5
A
H
AH
7
A
ATH
H
Subject C
300
250
200
150
100
50
0
3
5
9
Number of Fire Engines
Number of Fire Engines
Buildings Saved
Buildings Saved
300
7
9
Number of Fire Engines
A
H
AH
ATH
11
AH
ATH
11
Conclusions from Results
No strategy dominates through all cases
Humans may sometimes degrade agent team
results
Slope of strategy A > Slope of H
Humans are not as good at exploiting additional
agents resources
If EQH is low, then as we grow to larger
numbers of agents, A will dominate AH, ATH
and H
Dip at 6…
LAFD – “Not surprising.”
Summary
DEFACTO
Teamwork
Team Level Adjustable Autonomy Strategies
Interface
Experimented with strategies for adjustable autonomy
Future Directions
Experiments with LAFD
Study strategy behavior
Train the “system”
Training today, real response in the future.
Future
Thank You
Email: [email protected]
Web Site: http://teamcore.usc.edu
Machinetta
http://teamcore.usc.edu/doc/Machinetta/
Thanks
CREATE Center
Fred Pighin and Pratik Patil
Related Work: Disaster Response
Simulations
LA County Fire Department Simulators
DEFACTO focuses on “incident
commander”
“Environment” simulators:
E.g., Terrasim, EPICS
Not provide on agent behaviors
“Agent-based” simulators
E.g., Battlefield simulators
Adjustable autonomy
Strategy Models
Models of the Strategies
Models of the Strategies
Outline
Motivation
DEFACTO
Simulator
Teamwork Proxies
3D Visualization
Team Level Adjustable Autonomy
Objectives
CREATE Research Center
Current State of the Art
Models
Predictions
Experiments with DEFACTO
Conclusions
DEFACTO: Key Research Areas
Enable effective interactions of agents with humans
Scale-up to 100s of agents with fire engines,
ambulances, police
Research: Adjustable autonomy
Previous work: Often single agent-single human
interactions
Research: Scale-up in team coordination
Previous work: Limited numbers of agents coordinating in
teams
Visualization
Robust 3D visualization
Adjustable Autonomy:
Novel Challenges in Teams
Previous transfer-of-control fails in teams:
Ignore costs to team (just concerned about
individual)
One shot transfers of control, too rigid
Transfer control to a human (H) or agent (A)
If human fails to make a decision, miscoordination!!
Forcing agent to decide can cause a poor decision
Expensive lesson learned in the “Electric-Elves”
project
Major errors by software assistants
Hence need more flexible transfer of control
Predictions
EQh: Expected quality of human decision
AGH: How many agents human can control
A Strategy has constant slope
Low B, High EQh
Low B, Low EQh
80
Strategy value
Strategy value
80
60
40
20
60
40
20
0
0
2
3
4
5
6
7
8
9 10
Number of agents
A
H
ATH
2
3
4 5 6 7 8 9 10
Number of agents
A
H
ATH
CREATE Research Center
Center for Risk and Economic Analysis of
Terrorism Events
MANPAD Scenario
Large Scale Disaster
Limited Resources
First Response
Help incident commander control situation
Large Scale
Crime Scene
Simulator
Robocup Rescue
10 different Simulators
Multiple Agent Types
Team Level AA Model
How to select the strategy among many?
Key idea: Calculate expected utility of
different strategies
Traditional Expected Utility
Mathematical model of strategies
EQ: Quality of an entity’s decision
P: Probability of response of that entity
W: Cost of miscoordination
Probability of response * decision quality
Integrate over time
Agents Per Fire
Subject B
4
3.5
3.5
Agents/Fire
4
3
2.5
3
2.5
2
3
4
5
6
7
8
9
Number of Agents
AH
ATH
10
11
2
3
4
5
6
7
8
Number of Agents
AH
Subject C
4
Agents/Fire
Agents/Fire
Subject A
3.5
3
2.5
2
3
4
5
6
7
8
9
Number of Agents
AH
ATH
10
11
9
ATH
10
11
LA City Fire Dept Exercise:
Fire Progression
Fire starts on
1st floor
Spreads to Attic
LAFD Exercise: Simulations by
People Playing Roles
LAFD officials simulate
fire progression and the
resource availability
Battalion Chief allocates
available resources to
tasks
Proxy Architecture
Abstracted Theories of Teamwork
(Machinetta)
Platform Independent
Modular Structure
Other
Proxies
Communication
RAP Interface
State
Coordination
Adjustable Autonomy
RAP
DEFACTO Movie
Objectives: Agent-based Simulation
Tools for Disaster Response
Improve training and decision making
Present
Future
Teach and evaluate LAFD response tactics
Agent/Robot disaster response
Key research questions in:
Multiagent coordination, Adjustable Autonomy
Visualization of multiagent systems