Human-Machine Teaming with small Unmanned Aerial Systems in a MAPE-K Environment

The Human Machine Teaming (HMT) paradigm focuses on supporting partnerships between humans and autonomous machines. HMT describes requirements for transparency, augmented cognition, and coordination that enable far richer partnerships than those found in typical human-on-the-loop and human-in-the-loop systems. Autonomous, self-adaptive systems in domains such as autonomous driving, robotics, and Cyber-Physical Systems, are often implemented using the MAPE-K feedback loop as the primary reference model. However, while MAPE-K enables fully autonomous behavior, it does not explicitly address the interactions that occur between humans and autonomous machines as intended by HMT. In this paper, we, therefore, present the MAPE-KHMT framework which utilizes runtime models to augment the monitoring, analysis, planning, and execution phases of the MAPE-K loop in order to support HMT despite the different operational cadences of humans and machines. We draw on examples from our own emergency response system of interactive, autonomous, small unmanned aerial systems to illustrate the application of MAPE-KHMT in both a simulated and physical environment, and discuss how the various HMT models are connected and can be integrated into a MAPE-K solution.