Human Interaction With Robot Swarms: A Survey

Kolling, Andreas; Walker, Phillip; Chakraborty, Nilanjan; Sycara, Katia; Lewis, Michael

doi:10.1109/thms.2015.2480801

Cited by 332 publications

(226 citation statements)

References 126 publications

Supporting

Mentioning

216

Contrasting

Unclassified

Order By: Relevance

“…A recent survey on human interaction with robotic swarms is available in [8]. One of the most frequently studied questions in human-swarm interaction is the design of appropriate control inputs for swarms.…”

Section: Related Workmentioning

confidence: 99%

“…One of the most frequently studied questions in human-swarm interaction is the design of appropriate control inputs for swarms. Four basic control approaches are distinguished in [8]: (1) algorithm switching; (2) parameter changing; (3) indirect control through environment influence; and (4) control through selected leaders. In our study we utilize algorithm switching and control through teleoperated leaders.…”

Section: Related Workmentioning

confidence: 99%

“…There have been several proposals suggested for the implementation of human interaction with robot swarms, surveyed in [8]. Some of these explored proposals are: controlling units as a leader [18], with haptic interactions [17] or with body gestures [1].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Human-Robot Swarm Interaction with Limited Situational Awareness

Kapellmann-Zafra

Salomons

Kolling

et al. 2016

Lecture Notes in Computer Science

Self Cite

View full text Add to dashboard Cite

Abstract. This paper studies how an operator with limited situational awareness can collaborate with a swarm of simulated robots. The robots are distributed in an environment with wall obstructions. They aggregate autonomously but are unable to form a single cluster due to the obstructions. The operator lacks the bird's-eye perspective, but can interact with one robot at a time, and influence the behavior of other nearby robots. We conducted a series of experiments. They show that untrained participants had marginal influence on the performance of the swarm. Expert participants succeeded in aggregating 85% of the robots while untrained participants, with bird's-eye view, succeeded in aggregating 90%. This demonstrates that the controls are sufficient for operators to aid the autonomous robots in the completion of the task and that lack of situational awareness is the main difficulty. An analysis of behavioral differences reveals that trained operators learned to gain superior situational awareness.

show abstract

Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Human-Robot Swarm Interaction with Limited Situational Awareness

Kapellmann-Zafra

Salomons

Kolling

et al. 2016

Lecture Notes in Computer Science

Self Cite

View full text Add to dashboard Cite

show abstract

“…These examples do not constitute an exhaustive review of the literature. For a more comprehensive survey, we refer the reader to Kolling et al (2016).…”

Section: Related Literaturementioning

confidence: 99%

Investigating the effect of the reality gap on the human psychophysiological state in the context of human-swarm interaction

Podevijn

O’Grady

Fantini‐Hauwel

et al. 2016

PeerJ Computer Science

View full text Add to dashboard Cite

The reality gap is the discrepancy between simulation and reality-the same behavioural algorithm results in different robot swarm behaviours in simulation and in reality (with real robots). In this paper, we study the effect of the reality gap on the psychophysiological reactions of humans interacting with a robot swarm. We compare the psychophysiological reactions of 28 participants interacting with a simulated robot swarm and with a real (non-simulated) robot swarm. Our results show that a real robot swarm provokes stronger reactions in our participants than a simulated robot swarm. We also investigate how to mitigate the effect of the reality gap (i.e., how to diminish the difference in the psychophysiological reactions between reality and simulation) by comparing psychophysiological reactions in simulation displayed on a computer screen and psychophysiological reactions in simulation displayed in virtual reality. Our results show that our participants tend to have stronger psychophysiological reactions in simulation displayed in virtual reality (suggesting a potential way of diminishing the effect of the reality gap).

show abstract

“…The user may also take direct control of individual units of the swarm, thereby influencing its dynamics indirectly. A recent survey on HSI research can be found in Kolling et al (2016).…”

Section: Ocbotics Interfacesmentioning

confidence: 99%

An Organic Computing Approach to Self-Organizing Robot Ensembles

2016

View full text Add to dashboard Cite

Similar to the Autonomous Computing initiative, which has mainly been advancing techniques for self-optimization focusing on computing systems and infrastructures, Organic Computing (OC) has been driving the development of system design concepts and algorithms for self-adaptive systems at large. Examples of application domains include, for instance, traffic management and control, cloud services, communication protocols, and robotic systems. Such an OC system typically consists of a potentially large set of autonomous and self-managed entities, where each entity acts with a local decision horizon. By means of cooperation of the individual entities, the behavior of the entire ensemble system is derived. In this article, we present our work on how autonomous, adaptive robot ensembles can benefit from OC technology. Our elaborations are aligned with the different layers of an observer/controller framework, which provides the foundation for the individuals' adaptivity at system design-level. Relying on an extended Learning Classifier System (XCS) in combination with adequate simulation techniques, this basic system design empowers robot individuals to improve their individual and collaborative performances, e.g., by means of adapting to changing goals and conditions. Not only for the sake of generalizability but also because of its enormous transformative potential, we stage our research in the domain of robot ensembles that are typically comprised of several quad-rotors and that organize themselves to fulfill spatial tasks such as maintenance of building facades or the collaborative search for mobile targets. Our elaborations detail the architectural concept, provide examples of individual self-optimization as well as of the optimization of collaborative efforts, and we show how the user can control the ensembles at multiple levels of abstraction. We conclude with a summary of our approach and an outlook on possible future steps.

show abstract

Human Interaction With Robot Swarms: A Survey

Cited by 332 publications

References 126 publications

Human-Robot Swarm Interaction with Limited Situational Awareness

Human-Robot Swarm Interaction with Limited Situational Awareness

Investigating the effect of the reality gap on the human psychophysiological state in the context of human-swarm interaction

An Organic Computing Approach to Self-Organizing Robot Ensembles

Contact Info

Product

Resources

About