User-defined Swarm Robot Control

Kim, Lawrence H.; Drew, Daniel; Domova, Veronika; Follmer, Sean

doi:10.1145/3313831.3376814

Cited by 39 publications

(12 citation statements)

References 40 publications

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“…In the case of proximal interactions, gesture-based cues have been explored for groups of up to 20 aerial [61] and 20 groundbased [62] robots, although not validated in the field. Recent work uses human-centered design practices to assess how these types of interaction modalities scale to larger agent count systems [63]. Remote interaction (i.e., outside audible or visual range) is largely mediated through electronic devices.…”

Section: Human-robot Interaction (Hri)mentioning

confidence: 99%

Multi-Agent Systems for Search and Rescue Applications

Drew

2021

Curr Robot Rep

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Purpose of Review The goal of this review is to evaluate the current status of multi-robot systems in the context of search and rescue. This includes an investigation of their current use in the field, what major technical challenge areas currently preclude more widespread use, and which key topics will drive future development and adoption. Recent Findings Work blending machine learning with classical control techniques is driving progress in perception-driven autonomy, decentralized multi-robot coordination, and human-robot interaction, among others. Ad hoc mesh networking has achieved reliability suitable for safety-critical applications and may be a partial solution for communication. New modular and multimodal platforms may overcome mobility limitations without significantly increasing cost. Summary Multi-agent systems are not currently ready for deployment in search and rescue applications; however, progress is being made in a number of critical domains. As the field matures, research should focus on realistic evaluations of constituent technologies, and on confronting the challenges of simulation-to-reality transfer, algorithmic bias in autonomous agents that rely on machine learning, and novelty-versus-reliability incentive mismatch Keywords Urban search and rescue robots . Disaster robotics . Multi-robot search and rescue . Swarm search and rescue . Multi-agent systems; Field robotics This article is part of the Topical Collection on Defense, Military, and Surveillance Robotics

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Section: Human-robot Interaction (Hri)mentioning

confidence: 99%

Multi-Agent Systems for Search and Rescue Applications

Drew

2021

Curr Robot Rep

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“…In the same regard, swarm interfaces rearrange themselves to display different shapes. These have mainly been developed in the real world [43,79,86,99,149,150] but slowly take off as VR user interfaces [190] (Figure 1 -4). Indeed, while these latter devices are used as desktop interfaces, the swarm robot idea has extended to the air, with drones for instance [54,70,81,122,160].…”

Section: Simulating Objectsmentioning

confidence: 99%

“Can I Touch This?”: Survey of Virtual Reality Interactions via Haptic Solutions

Bouzbib¹,

Bailly²,

Haliyo³

et al. 2021

32e Conférence Francophone Sur l'Interaction Homme-Machine

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Haptic feedback has become crucial to enhance the user experiences in Virtual Reality (VR). This justifies the sudden burst of novel haptic solutions proposed these past years in the HCI community. This article is a survey of Virtual Reality interactions, relying on haptic devices. We propose two dimensions to describe and compare the current haptic solutions: their degree of physicality, as well as their degree of actuation. We depict a compromise between the user and the designer, highlighting how the range of required or proposed stimulation in VR is opposed to the haptic interfaces flexibility and their deployment in real-life use-cases. This paper (1) outlines the variety of haptic solutions and provides a novel perspective for analysing their associated interactions, (2) highlights the limits of the current evaluation criteria regarding these interactions, and finally (3) reflects the interaction, operation and conception potentials of "encountered-type of haptic devices". CCS CONCEPTS• Human-centered computing → Virtual reality; Haptic devices; Interaction design theory, concepts and paradigms.

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“…Alonso-Mora et al [17] and Kim et al [18] suggested realtime input interfaces with complex swarm formation control. However, their approach was developed only for operation of ground mobile robots in 2D space.…”

Section: Related Workmentioning

confidence: 99%

SwarmPaint: Human-Swarm Interaction for Trajectory Generation and Formation Control by DNN-based Gesture Interface

Serpiva

Karmanova

Fedoseev

et al. 2021

2021 International Conference on Unmanned Aircraft Systems (ICUAS)

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Teleoperation tasks with multi-agent systems have a high potential in supporting human-swarm collaborative teams in exploration and rescue operations. However, it requires an intuitive and adaptive control approach to ensure swarm stability in a cluttered and dynamically shifting environment. We propose a novel human-swarm interaction system, allowing the user to control swarm position and formation by either direct hand motion or by trajectory drawing with a hand gesture interface based on the DNN gesture recognition.The key technology of the SwarmPaint is the user's ability to perform various tasks with the swarm without additional devices by switching between interaction modes. Two types of interaction were proposed and developed to adjust a swarm behavior: free-form trajectory generation control and shaped formation control.Two preliminary user studies were conducted to explore user's performance and subjective experience from humanswarm interaction through the developed control modes. The experimental results revealed a sufficient accuracy in the trajectory tracing task (mean error of 5.6 cm by gesture draw and 3.1 cm by mouse draw with the pattern of dimension 1 m by 1 m) over three evaluated trajectory patterns and up to 7.3 cm accuracy in targeting task with two target patterns of 1 m achieved by SwarmPaint interface. Moreover, the participants evaluated the trajectory drawing interface as more intuitive (12.9%) and requiring less effort to utilize (22.7%) than direct shape and position control by gestures, although its physical workload and failure in performance were presumed as more significant (by 9.1% and 16.3%, respectively).The proposed SwarmPaint technology can be potentially applied in various human-swarm scenarios, including complex environment exploration, dynamic lighting generation, and interactive drone shows, allowing users to actively participate in the swarm behavior decision on a different scale of control.

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User-defined Swarm Robot Control

Cited by 39 publications

References 40 publications

Multi-Agent Systems for Search and Rescue Applications

Multi-Agent Systems for Search and Rescue Applications

“Can I Touch This?”: Survey of Virtual Reality Interactions via Haptic Solutions

SwarmPaint: Human-Swarm Interaction for Trajectory Generation and Formation Control by DNN-based Gesture Interface

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