Gesturing at subswarms: Towards direct human control of robot swarms

Gaëtan Podevijn*, Rehan O'Grady, Youssef S.G. Nashed, Marco Dorigo

*Corresponding author for this work

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

9 Scopus citations

Abstract

The term human-swarm interaction (HSI) refers to the interaction between a human operator and a swarm of robots. In this paper, we investigate HSI in the context of a resource allocation and guidance scenario. We present a framework that enables direct communication between human beings and real robot swarms, without relying on a secondary display. We provide the user with a gesture-based interface that allows him to issue commands to the robots. In addition, we develop algorithms that allow robots receiving the commands to display appropriate feedback to the user. We evaluate our framework both in simulation and with real-world experiments. We conduct a summative usability study based on experiments in which participants must guide multiple subswarms to different task locations.

Original languageEnglish (US)
Title of host publicationTowards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers
PublisherSpringer Verlag
Pages390-403
Number of pages14
ISBN (Print)9783662436448
DOIs
StatePublished - 2014
Event14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013 - Oxford, United Kingdom
Duration: Aug 28 2013Aug 30 2013

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8069 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013
CountryUnited Kingdom
CityOxford
Period8/28/138/30/13

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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