Crowdsourcing Swarm Manipulation Experiments: A Massive Online User Study with Large Swarms of Simple Robots

Becker, Aaron T.; Ertel, Chris; McLurkin, James

doi:10.48550/arxiv.1402.3653

Cited by 1 publication

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“…In particular, we investigate if the provided HSI allows a user to guide a swarm of robots into some geometric configuration. Human-swarm interactions come in a variety of flavors, such as gesture-based methods [8], [9], mode selection [10], music instrument interfaces [11], broadcast control [12], [13], deformable media [14], and biologically inspired interactions [15], just to cite and name a few. The commonalities amongst these interactions are twofold: the user's interaction with the swarm happens alongside the interactions amongst the robots in the swarm, and each HSI imposes a specialized structure on the possible inputs This work was supported by the Air Force Office of Scientific Research.…”

Section: Introductionmentioning

confidence: 99%

A control lyapunov function approach to human-swarm interactions

Croix

Egerstedt

2015

2015 American Control Conference (ACC)

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In this paper, we seek to establish formal guarantees for whether or not a given human-swarm interaction (HSI) is appropriate for achieving multi-robot tasks. Examples of such tasks include guiding a swarm of robots into a particular geometric configuration. In doing so, we define what it means to impose a HSI control structure on a multi-robot system. Control Lyapunov functions (CLFs) are used to prove that it is feasible for a user to achieve a particular geometric configuration with a multi-robot system under some selected HSI control structure. Several examples of multi-robot systems with unique HSI control structures are provided to illustrated the use of CLFs to establish feasibility.

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