TY - GEN
T1 - Gesturing at subswarms
T2 - 14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013
AU - Podevijn, Gaëtan
AU - O'Grady, Rehan
AU - Nashed, Youssef S.G.
AU - Dorigo, Marco
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84904182694&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84904182694&partnerID=8YFLogxK
U2 - 10.1007/978-3-662-43645-5_41
DO - 10.1007/978-3-662-43645-5_41
M3 - Conference contribution
AN - SCOPUS:84904182694
SN - 9783662436448
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 390
EP - 403
BT - Towards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers
PB - Springer Verlag
Y2 - 28 August 2013 through 30 August 2013
ER -