Authority management in human-robot systems

In the context of missions accomplished jointly by an artifical agent and a human agent, we focus on a controller of the authority dynamics based on a dependence graph of resources that can be controlled by both agents. The controller is designed to adapt the behaviours of the artificial agent or of the human agent in case of an authority conflict occurring on these resources. The relative authority of two agents regarding the control of a resource is deined so as the authority conlict, which appears relevant to trigger authority reallocation between agents as shown by a first experiment. Finally a second experiment shows that beyond the modification of the artificial agent's behaviour, it is also possible to adapt the human operator's behaviour in order to solve such a conflict.