Sliding autonomy for peer-to-peer human-robot teams

M. Bernardine Dias*, Balajee Kannan, Brett Browning, E. Gil Jones, Brenna Argall, M. Freddie Dias, Marc Zinck, Manuela M. Veloso, Anthony J. Stentz

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

31 Scopus citations


The vision of humans and robots working together as peers to accomplish complex tasks has motivated many recent research endeavors with a variety of applications ranging from lunar construction to soccer. However, much of this research is still at an early stage, and many challenges still remain in realizing this vision. A key requirement for enabling robustness and efficiency in human-robot teams is the ability to dynamically adjust the level of autonomy to optimize the use of resources and capabilities as conditions evolve. While sliding autonomy is well defined and understood in applications where a single human is working with a single robot, it is largely unexplored when applied to teams of humans working with multiple robots. This paper highlights the challenges of enabling sliding autonomy in peer-to-peer human-robot teams and extends the current literature to identify and extend six key capabilities that are essential for overcoming these challenges. These capabilities are requesting help, maintaining coordination, establishing situational awareness, enabling interactions at different levels of granularity, prioritizing team members, and learning from interactions. We demonstrate the importance of several of these characteristics with results from a peer-to-peer human-robot team engaged in a treasure hunt task.

Original languageEnglish (US)
Title of host publicationIntelligent Autonomous Systems 10, IAS 2008
Number of pages10
StatePublished - 2008
Event10th International Conference on Intelligent Autonomous Systems, IAS 2008 - Baden-Baden, Germany
Duration: Jul 23 2008Jul 25 2008

Publication series

NameIntelligent Autonomous Systems 10, IAS 2008


Other10th International Conference on Intelligent Autonomous Systems, IAS 2008


  • Adjustable autonomy
  • Autonomous teamwork
  • Human-robot teams
  • Multi-agent coordination
  • Peer-to-peer teams
  • Pickup teams
  • Sliding autonomy

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering


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