As systems grow more automatized, the human operator is all too often overlooked. Although human-robot interaction (HRI) can be quite demanding in terms of cognitive resources, the mental states (MS) of the operators are not yet taken into account by existing systems. As humans are no providential agents, this lack can lead to hazardous situations. The growing number of neurophysiology and machine learning tools now allows for efficient operators’ MS monitoring. Sending feedback on MS in a closed-loop solution is therefore at hand. Involving a consistent automated planning technique to handle such a process could be a significant asset. This perspective article was meant to provide the reader with a synthesis of the significant literature with a view to implementing systems that adapt to the operator’s MS to improve human-robot operations’ safety and performance. First of all, the need for this approach is detailed regarding remote operation, an example of HRI. Then, several MS identified as crucial for this type of HRI are defined, along with relevant electrophysiological markers. A focus is made on prime degraded MS linked to time-on-task and task demands, as well as collateral MS linked to system outputs (i.e., feedback and alarms). Lastly, the principle of symbiotic HRI is detailed and one solution is proposed to include the operator state vector into the system using a mixed-initiative decisional framework to drive such an interaction.

The Internet of Things includes all connected objects from small embedded systems with low computational power and storage capacities to efficient ones, as well as moving objects like drones and autonomous vehicles. The concept of Internet of Everything expands upon this idea by adding people, data and processing. The adoption of such systems is exploding and becoming ever more significant, bringing with it questions related to the security and the privacy of these objects. A natural solution to data integrity, confidentiality and single point of failure vulnerability is the use of blockchains. Blockchains can be used as an immutable data layer for storing information, avoiding single point of failure vulnerability via decentralization and providing strong security and cryptographic tools for IoE. However, the adoption of blockchain technology in such heterogeneous systems containing light devices presents several challenges and practical issues that need to be overcome. Indeed, most of the solutions proposed to adapt blockchains to devices with low resources confront difficulty in maintaining decentralization or security. The most interesting are probably the Layer 2 solutions, which build offchain systems strongly connected to the blockchain. Among these, zk-rollup is a promising new generation of Layer 2/off-chain schemes that can remove the last obstacles to blockchain adoption in IoT, or more generally, in IoE. By increasing the scalability and enabling rule customization while preserving the same security as the Layer 1 blockchain, zk-rollups overcome restrictions on the use of blockchains for IoE. Despite their promises illustrated by recent systems proposed by startups and private companies, very few scientific publications explaining or applying this barely-known technology have been published, especially for non-financial systems. In this context, the objective of our paper is to fill this gap for IoE systems in two steps. We first propose a synthetic review of recent proposals to improve scalability including onchain (consensus, blockchain organization, …) and offchain (sidechain, rollups) solutions and we demonstrate that zk-rollups are the most promising ones. In a second step, we focus on IoE by describing several interesting features (scalability, dynamicity, data management, …) that are illustrated with various general IoE use cases.

The design of human–robot interactions is a key challenge to optimize operational performance. A promising approach is to consider mixed-initiative interactions in which the tasks and authority of each human and artificial agents are dynamically defined according to their current abilities. An important issue for the implementation of mixed-initiative systems is to monitor human performance to dynamically drive task allocation between human and artificial agents (i.e., robots). We, therefore, designed an experimental scenario involving missions whereby participants had to cooperate with a robot to fight fires while facing hazards. Two levels of robot automation (manual vs. autonomous) were randomly manipulated to assess their impact on the participants’ performance across missions. Cardiac activity, eye-tracking, and participants’ actions on the user interface were collected. The participants performed differently to an extent that we could identify high and low score mission groups that also exhibited different behavioral, cardiac and ocular patterns. More specifically, our findings indicated that the higher level of automation could be beneficial to low-scoring participants but detrimental to high-scoring ones, and vice versa. In addition, inter-subject single-trial classification results showed that the studied behavioral and physiological features were relevant to predict mission performance. The highest average balanced accuracy (74%) was reached using the features extracted from all input devices. These results suggest that an adaptive HRI driving system, that would aim at maximizing performance, would be capable of analyzing such physiological and behavior markers online to further change the level of automation when it is relevant for the mission purpose.

The exploration problem is a fundamental subject in autonomous mobile robotics that deals with achieving the complete coverage of a previously unknown environment. There are several scenarios where completing exploration of a zone is a main part of the mission. Due to the efficiency and robustness brought by multi-robot systems, exploration is usually done cooperatively. Wireless communication plays an important role in collaborative multi-robot strategies. Unfortunately, the assumption of stable communication and end-to-end connectivity may be easily compromised in real scenarios. In this paper, a novel auto-adaptive multi-objective strategy is followed to support the selection of tasks regarding both exploration performance and connectivity level. Compared with others, the proposed approach shows effectiveness and flexibility to tackle the multi-robot exploration problem, being capable of decreasing the last of disconnection periods without noticeable degradation of the completion exploration time.

This study discusses the application of sequential decision making under uncertainty and mixed observability in a mixed-initiative robotic target search application. In such a robotic mission, two agents, a ground robot and a human operator, must collaborate to reach a common goal using, each in turn, their recognized skills. The originality of the work relies in considering that the human operator is not a providential agent when the robot fails. Using the data from previous experiments, a Mixed Observability Markov Decision Process (MOMDP) model was designed, which allows to consider aleatory failure events and the partial observable human operator's state while planning for a long-term horizon. Results show that the collaborative system was in general able to successfully complete or terminate the mission, even when many simultaneous sensors, devices and operator failures happened. So, the mixed-initiative framework highlighted in this study shows the relevancy of taking into account the cognitive state of the operator, which permits to compute a policy for the sequential decision problem which prevents to re-planning when unexpected (but known) events occurs.