A Game Benchmark for Real-Time Human-Swarm Control

Joel Meyer*, Allison Pinosky, Thomas Trzpit, Ed Colgate, Todd D. Murphey

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We present a game benchmark for testing human-swarm control algorithms and interfaces in a real-time, high-cadence scenario. Our benchmark consists of a swarm vs. swarm game in a virtual ROS environment in which the goal of the game is to "capture"all agents from the opposing swarm; the game's high-cadence is a result of the capture rules, which cause agent team sizes to fluctuate rapidly. These rules require players to consider both the number of agents currently at their disposal and the behavior of their opponent's swarm when they plan actions. We demonstrate our game benchmark with a default human-swarm control system that enables a player to interact with their swarm through a high-level touchscreen interface. The touchscreen interface transforms player gestures into swarm control commands via a low-level decentralized ergodic control framework. We compare our default human-swarm control system to a flocking-based control system, and discuss traits that are crucial for swarm control algorithms and interfaces operating in real-time, high-cadence scenarios like our game benchmark. Our game benchmark code is available on Github; more information can be found at https://sites.google.com/view/swarm-game-benchmark

Original languageEnglish (US)
Title of host publication2022 IEEE 18th International Conference on Automation Science and Engineering, CASE 2022
PublisherIEEE Computer Society
Pages743-750
Number of pages8
ISBN (Electronic)9781665490429
DOIs
StatePublished - 2022
Event18th IEEE International Conference on Automation Science and Engineering, CASE 2022 - Mexico City, Mexico
Duration: Aug 20 2022Aug 24 2022

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2022-August
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Conference

Conference18th IEEE International Conference on Automation Science and Engineering, CASE 2022
Country/TerritoryMexico
CityMexico City
Period8/20/228/24/22

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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