Respect Your Emotion: Human-Multi-Robot Teaming based on Regret Decision Model

Often, when modeling human decision-making behaviors in th e context of human-robot teaming, the emotion aspect of human is ignored. Nevertheless, the influence of em otion, in some cases, is not only undeniable but beneficial. This work studies the humanlike characteristics brought b y regret emotion in one-human-multi-robot teaming for the application of domain search. In such application, the task management load is outsourced to the robots to reduce the human's workload, freeing the human to do more important work. The regret decision model is first used by each robot for deciding whether to request human service, th en is extended for optimally queuing the requests from multiple robots. For the movement of the robots in the domain search, we designed a path planning algorithm based on dynamic programming for each robot. The simulation shows that the humanlike characteristics, namely, risk-seeking and risk-aversion, indeed bring some appealing eff ects for balancing the workload and performance in the human-multi-robot team.