{"id":"https://openalex.org/W4390584860","doi":"https://doi.org/10.3389/frobt.2023.1294533","title":"Event-triggered robot self-assessment to aid in autonomy adjustment","display_name":"Event-triggered robot self-assessment to aid in autonomy adjustment","publication_year":2024,"publication_date":"2024-01-04","ids":{"openalex":"https://openalex.org/W4390584860","doi":"https://doi.org/10.3389/frobt.2023.1294533","pmid":"https://pubmed.ncbi.nlm.nih.gov/38239275"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2023.1294533","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1294533","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1294533/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1294533/pdf?isPublishedV2=False","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066634834","display_name":"Nicholas Conlon","orcid":"https://orcid.org/0000-0001-8262-2169"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Nicholas Conlon","raw_affiliation_strings":["Cooperative Human-Robot Intelligence Laboratory, University of Colorado at Boulder, Boulder, CO, United States"],"affiliations":[{"raw_affiliation_string":"Cooperative Human-Robot Intelligence Laboratory, University of Colorado at Boulder, Boulder, CO, United States","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100664008","display_name":"Nisar Ahmed","orcid":"https://orcid.org/0000-0002-7555-5671"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nisar Ahmed","raw_affiliation_strings":["Cooperative Human-Robot Intelligence Laboratory, University of Colorado at Boulder, Boulder, CO, United States"],"affiliations":[{"raw_affiliation_string":"Cooperative Human-Robot Intelligence Laboratory, University of Colorado at Boulder, Boulder, CO, United States","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024581242","display_name":"Daniel Szaf\u0131r","orcid":"https://orcid.org/0000-0003-1848-7884"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Szafir","raw_affiliation_strings":["Interactive Robotics and Novel Technologies Laboratory, University of North Carolina at Chapel Hill, Chapel Hill, NC, United States"],"affiliations":[{"raw_affiliation_string":"Interactive Robotics and Novel Technologies Laboratory, University of North Carolina at Chapel Hill, Chapel Hill, NC, United States","institution_ids":["https://openalex.org/I114027177"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5066634834"],"corresponding_institution_ids":[],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":3.3852,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.90784633,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"10","issue":null,"first_page":"1294533","last_page":"1294533"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T12423","display_name":"Software Reliability and Analysis Research","score":0.9794999957084656,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11357","display_name":"Risk and Safety Analysis","score":0.9754999876022339,"subfield":{"id":"https://openalex.org/subfields/1804","display_name":"Statistics, Probability and Uncertainty"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7672508955001831},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.7340830564498901},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.6477261781692505},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5184640288352966},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40598198771476746},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3857194185256958},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.08085745573043823}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7672508955001831},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.7340830564498901},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.6477261781692505},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5184640288352966},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40598198771476746},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3857194185256958},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.08085745573043823},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/frobt.2023.1294533","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1294533","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1294533/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:38239275","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38239275","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10794385","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10794385","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10794385/pdf/frobt-10-1294533.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:1beb0ee6c42b4e7b80205acb66a194ca","is_oa":true,"landing_page_url":"https://doaj.org/article/1beb0ee6c42b4e7b80205acb66a194ca","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 10 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/frobt.2023.1294533","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1294533","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1294533/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5400000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4390584860.pdf"},"referenced_works_count":51,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1428571477","https://openalex.org/W1492760962","https://openalex.org/W1593789316","https://openalex.org/W1977907196","https://openalex.org/W2005394020","https://openalex.org/W2010158189","https://openalex.org/W2014824949","https://openalex.org/W2019515298","https://openalex.org/W2028626340","https://openalex.org/W2167340365","https://openalex.org/W2171590660","https://openalex.org/W2502108048","https://openalex.org/W2593136555","https://openalex.org/W2989822567","https://openalex.org/W3022671439","https://openalex.org/W3038822267","https://openalex.org/W3043326965","https://openalex.org/W3044355621","https://openalex.org/W3101219640","https://openalex.org/W3108011062","https://openalex.org/W3120598935","https://openalex.org/W3134981453","https://openalex.org/W3135575787","https://openalex.org/W3198384955","https://openalex.org/W3199658431","https://openalex.org/W4205863273","https://openalex.org/W4212774754","https://openalex.org/W4221152286","https://openalex.org/W4285102526","https://openalex.org/W4286361351","https://openalex.org/W4313007700","https://openalex.org/W4313147649","https://openalex.org/W4320930694","https://openalex.org/W4383108330","https://openalex.org/W4383108763","https://openalex.org/W6684393244","https://openalex.org/W6724556069","https://openalex.org/W6754184789","https://openalex.org/W6756153297","https://openalex.org/W6774791806","https://openalex.org/W6777038041","https://openalex.org/W6786121224","https://openalex.org/W6788765164","https://openalex.org/W6810182250","https://openalex.org/W6810414749","https://openalex.org/W6839499611","https://openalex.org/W6840538083","https://openalex.org/W6846681977","https://openalex.org/W6847862439","https://openalex.org/W6850107257"],"related_works":["https://openalex.org/W2505675537","https://openalex.org/W2156578775","https://openalex.org/W3120435769","https://openalex.org/W3209220495","https://openalex.org/W2913706598","https://openalex.org/W1967684283","https://openalex.org/W2919172900","https://openalex.org/W1136777736","https://openalex.org/W2122867552","https://openalex.org/W1568872483"],"abstract_inverted_index":{"<b>Introduction:</b>":[0],"Human-robot":[1],"teams":[2],"are":[3,152],"being":[4],"called":[5],"upon":[6],"to":[7,29,46,59,75,101,128,154,179,221,223],"accomplish":[8],"increasingly":[9],"complex":[10],"tasks.":[11],"During":[12],"execution,":[13],"the":[14,42,47,60,68,89,102,172,188,193,199,215,230,236,242],"robot":[15,61,109,115,207],"may":[16,72],"operate":[17,129],"at":[18],"different":[19],"levels":[20],"of":[21,36,49,121,134,187,229,241,256],"autonomy":[22,28,90,122],"(LOAs),":[23],"ranging":[24],"from":[25],"full":[26,30,231],"robotic":[27],"human":[31],"control.":[32],"For":[33],"any":[34],"number":[35],"reasons,":[37],"such":[38],"as":[39,108],"changes":[40,64,170],"in":[41,51,65,123,171,202],"robot's":[43,103,150,189,283],"surroundings":[44],"due":[45],"complexities":[48],"operating":[50],"dynamic":[52],"and":[53,57,87,105,182,198,205,239,252],"uncertain":[54],"environments,":[55],"degradation":[56],"damage":[58],"platform,":[62],"or":[63],"tasking,":[66],"adjusting":[67],"LOA":[69],"during":[70],"operations":[71],"be":[73,92,117],"necessary":[74],"achieve":[76],"desired":[77],"mission":[78],"outcomes.":[79],"Thus,":[80],"a":[81,114,119,131,139,177,184,265,282],"critical":[82],"challenge":[83],"is":[84],"understanding":[85],"when":[86],"how":[88,146,235],"should":[91],"adjusted.":[93],"<b>Methods:</b>":[94],"We":[95,191],"frame":[96],"this":[97,112],"problem":[98],"with":[99,125,130,253,264],"respect":[100],"capabilities":[104],"limitations,":[106],"known":[107],"competency.":[110,190,285],"With":[111],"framing,":[113],"could":[116],"granted":[118],"level":[120],"line":[124],"its":[126,155],"ability":[127],"high":[132],"degree":[133],"competence.":[135],"First,":[136],"we":[137,159],"propose":[138],"Model":[140,173,194,216,248],"Quality":[141,174,195,217,249],"Assessment":[142,165,175,196,218,273],"metric,":[143],"which":[144],"indicates":[145],"(un)expected":[147],"an":[148,161],"autonomous":[149],"observations":[151],"compared":[153],"model":[156],"predictions.":[157],"Next,":[158],"present":[160],"Event-Triggered":[162,270],"Generalized":[163,271],"Outcome":[164,272],"(ET-GOA)":[166],"algorithm":[167,201,233,243,274],"that":[168,214,269],"uses":[169],"above":[176],"threshold":[178],"selectively":[180],"execute":[181],"report":[183],"high-level":[185],"assessment":[186],"validated":[192],"metric":[197],"ET-GOA":[200,232],"both":[203],"simulated":[204],"live":[206],"navigation":[208],"scenarios.":[209],"<b>Results:</b>":[210],"Our":[211,260],"experiments":[212],"found":[213],"was":[219,244],"able":[220],"respond":[222],"unexpected":[224],"observations.":[225],"Additionally,":[226],"our":[227],"validation":[228],"explored":[234],"computational":[237],"cost":[238],"accuracy":[240],"impacted":[245],"across":[246],"several":[247],"triggering":[250],"thresholds":[251],"differing":[254],"amounts":[255],"state":[257],"perturbations.":[258],"<b>Discussion:</b>":[259],"experimental":[261],"results":[262],"combined":[263],"human-in-the-loop":[266],"demonstration":[267],"show":[268],"can":[275],"facilitate":[276],"informed":[277],"autonomy-adjustment":[278],"decisions":[279],"based":[280],"on":[281],"task":[284]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}