Sliding Autonomy in Cloud Robotics Services for Smart City Applications

摘要

The aim of this paper is to present a sliding autonomy approach for Unmanned Aerial Vehicles (UAVs) in the context of the project Fly4SmartCity. The project consists in the implementation of a cloud robotics service in which small UAVs are employed for emergency management, monitoring and surveillance in a smart city scenario. Human-robot interaction is mediated by the cloud robotics platform. We imagine three main levels of autonomy for UAVs: full autonomy, mixed-initiative and teleoperation. Then we propose different scenarios in which we analyze the Level Of Autonomy and the sliding autonomy approach. All services use shared knowledge (crowdsourcing and other data sources available on the Internet) for the management and control of the UAVs.