Deformable-medium affordances for interacting with multi-robot systems

Diana, Matteo; Croix, Jean-Pierre de la; Egerstedt, Magnus

doi:10.1109/iros.2013.6697116

Cited by 13 publications

(10 citation statements)

References 20 publications

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“…This setting is particularly attractive as the multi-robot team typically outperforms the human at repetitive and exhausting tasks but not at cognitive reasoning in everyday tasks in unstructured environments. The interaction between a human and a group of robots poses two fundamental issues: the choice of a suitable and natural way to command multiple robots [5] and providing the appropriate feedback to the human operator [6]. A related problem is explored in multi-robot teleoperation [7] where a group of slave robots is controlled by the human through a master robot.…”

Section: Introductionmentioning

confidence: 99%

Multi-robot manipulation controlled by a human with haptic feedback

Sieber

Musić

Hirche

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-The interaction of a single human with a team of cooperative robots, which collaboratively manipulate an object, poses a great challenge by means of the numerous possibilities of issuing commands to the team or providing appropriate feedback to the human. In this paper we propose a formationbased approach in order to avoid deformations of the object and to virtually couple the human to the formation. Here the human can be interpreted as a leader in a leader-follower formation with the robotic manipulators being the followers. The results of a controllability analysis in such a leader-follower formation suggest that it is beneficial to measure the state of the human (leader) by all physically cooperating manipulators (followers). The proposed approach is evaluated in a full-scale multi-robot cooperative manipulation experiment with humans.

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Section: Introductionmentioning

confidence: 99%

Multi-robot manipulation controlled by a human with haptic feedback

Sieber

Musić

Hirche

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…Diana and al. [40] use a joystick made of modeling paste as a physical medium for interaction. This allows the operator to control the formation of the robot swarm.…”

Section: Become the Leadermentioning

confidence: 99%

Human-Rover Interactions and Swarm Algorithms of Mobile Robots in an Open and Crowded Environment: A Survey

Vaidis¹,

Otis²

2020

Preprint

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As a result of extensive research in the field of mobile robots (rovers) and swarms, a number of algorithms exist to assist them for executing a mission in the three levels of software architecture: strategic (interaction loop level), tactic (planning) and operational (sensing, control and actuation). They allow them to achieve their goals while adapting to their environment through a multitude of methods designed for each situation. For this reason, a literature review of the latest research conducted in previous years is required to identify new research trends in human-swarm interaction applied to help humans in hazardous environment such as militarized zone. In this paper, we will present some interesting algorithms for interactive and autonomous mobile robots acting in swarms in an open and crowded environment. A discussion will focus on comparing different algorithms and their advantages and disadvantages.

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“…Situation awareness is provided to the operator in terms of an appropriately designed and modulated force feedback, and a general-purpose haptic teleoperation device is exploited. Conversely, (Diana et al 2013) exploits the concept of "deformable affordance", introducing an ad-hoc deformable teleoperation device that is used by the human operator to globally define the shape of the multi-robot system: the stability of the interaction system is discussed in de la Croix and Egerstedt (2015). This approach moves towards the introduction of interaction paradigms that are natural for the humans, and that can then be easily exploited.…”

Section: Interaction With Multi-robot Systemsmentioning

confidence: 99%

Humans interacting with multi-robot systems: a natural affect-based approach

et al. 2019

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This paper proposes a novel human-multi-robot-system interaction approach that enjoys two main features: natural interaction and affect-based adaptation of robots behavior. Specifically, the proposed system enables interaction by means of a wrist-worn device, such as a commercial smartwatch, which allows to track user's movements and heart activity. Thus, on the one side, the proposed system allows the user to intuitively drive the robots by establishing a natural mapping between wrist movements and robots velocity. On the other side, the system estimates user's mental fatigue during interaction by means of the analysis of heart rate variability. The proposed interaction system adapts then the behavior of the multi-robot system when the interacting user gets overwhelmed with the interaction and control task, which is then simplified. Experimental validation is provided, to show the effectiveness of the proposed system. First, the natural and affect-based interaction are considered separately. Then, the approach is tested considering a complex realistic scenario, which is simulated in virtual reality in order to get an immersive and realistic interaction experience. The results of the experimental validation clearly show that the proposed affect-based adaptive system leads to relieving the user's fatigue and mental workload. Keywords Human-multi-robot-system interaction • Natural ineraction • Affective robotics • Human-centred robotics This is one of the several papers published in Autonomous Robots comprising the Special Issue on Multi-Robot and Multi-Agent Systems.

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Deformable-medium affordances for interacting with multi-robot systems

Cited by 13 publications

References 20 publications

Multi-robot manipulation controlled by a human with haptic feedback

Multi-robot manipulation controlled by a human with haptic feedback

Human-Rover Interactions and Swarm Algorithms of Mobile Robots in an Open and Crowded Environment: A Survey

Humans interacting with multi-robot systems: a natural affect-based approach

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