Gesturing at Subswarms: Towards Direct Human Control of Robot Swarms

Podevijn, Gaëtan; O’Grady, Rehan; Nashed, Youssef S. G.; Dorigo, Marco

doi:10.1007/978-3-662-43645-5_41

Cited by 26 publications

(19 citation statements)

References 9 publications

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“…Robot-oriented interactions occur when a user must engage with individual robots, e.g., to make them into leaders other robots must follow [6], to hand-pick robots for a specific task [7], [8], [9], [10], [11], or to use a robot as tangible interface for gaming and education [12], [13]. The main advantage of these interfaces is the simplicity of their abstraction (the user becomes part of the swarm); however, with collective behaviors in which the user must interact with multiple robots, the downside of this approach is the large amount of information a user must provide to the robots (e.g., in the form of number of user commands per task).…”

Section: Related Workmentioning

confidence: 99%

Mixed-Granularity Human-Swarm Interaction

Patel

Pinciroli

2019

2019 International Conference on Robotics and Automation (ICRA)

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We present an augmented reality human-swarm interface that combines two modalities of interaction: environment-oriented and robot-oriented. The environmentoriented modality allows the user to modify the environment (either virtual or physical) to indicate a goal to attain for the robot swarm. The robot-oriented modality makes it possible to select individual robots to reassign them to other tasks to increase performance or remedy failures. Previous research has concluded that environment-oriented interaction might prove more difficult to grasp for untrained users. In this paper, we report a user study which indicates that, at least in collective transport, environment-oriented interaction is more effective than purely robot-oriented interaction, and that the two combined achieve remarkable efficacy.

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Section: Related Workmentioning

confidence: 99%

Mixed-Granularity Human-Swarm Interaction

Patel

Pinciroli

2019

2019 International Conference on Robotics and Automation (ICRA)

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“…Hand gestures were widely adopted in the research of humanrobot interaction, and there is a wide variety of approaches that have been proposed. In the gesture-based interface described by G. Podevijn et al [14], a swarm of ground robots gets commands from a human operator in the form of gestures that are captured by a Kinect system. In [15], human operators wear the Myo armband which converts myoelectric muscle signals from hand gestures to control the input of the swarm of TurtleBots.…”

Section: B Hand Gesture-controlled Teleoperationmentioning

confidence: 99%

DronePick: Object Picking and Delivery Teleoperation with the Drone Controlled by a Wearable Tactile Display

Ibrahimov

Tsykunov

Shirokun

et al. 2019

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

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We report on the teleoperation system DronePick which provides remote object picking and delivery by a humancontrolled quadcopter. The main novelty of the proposed system is that the human user continuously gets the visual and haptic feedback for accurate teleoperation. DronePick consists of a quadcopter equipped with a magnetic grabber, a tactile glove with finger motion tracking sensor, hand tracking system, and the Virtual Reality (VR) application. The human operator teleoperates the quadcopter by changing the position of the hand. The proposed vibrotactile patterns representing the location of the remote object relative to the quadcopter are delivered to the glove. It helps the operator to determine when the quadcopter is right above the object. When the "pick" command is sent by clasping the hand in the glove, the quadcopter decreases its altitude and the magnetic grabber attaches the target object. The whole scenario is in parallel simulated in VR. The air flow from the quadcopter and the relative positions of VR objects help the operator to determine the exact position of the delivered object to be picked. The experiments showed that the vibrotactile patterns were recognized by the users at the high recognition rates: the average 99% recognition rate and the average 2.36s recognition time. The real-life implementation of DronePick featuring object picking and delivering to the human was developed and tested.

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“…Some research focuses on more technical aspects, such as control methods (direct control of the robots, or indirect control of the robots) (Kolling et al, 2013), the effect of neglect benevolence (determining the best moment to issue a command to a swarm) Nagavalli et al, 2015), the interaction based on gestures (Podevijn et al, 2013;Nagi et al, 2014, Nagi et al, 2015 or the effect of bandwidth limitation during the interaction . These examples do not constitute an exhaustive review of the literature.…”

Section: Related Literaturementioning

confidence: 99%

Investigating the effect of the reality gap on the human psychophysiological state in the context of human-swarm interaction

Podevijn

O’Grady

Fantini‐Hauwel

et al. 2016

PeerJ Computer Science

Self Cite

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The reality gap is the discrepancy between simulation and reality-the same behavioural algorithm results in different robot swarm behaviours in simulation and in reality (with real robots). In this paper, we study the effect of the reality gap on the psychophysiological reactions of humans interacting with a robot swarm. We compare the psychophysiological reactions of 28 participants interacting with a simulated robot swarm and with a real (non-simulated) robot swarm. Our results show that a real robot swarm provokes stronger reactions in our participants than a simulated robot swarm. We also investigate how to mitigate the effect of the reality gap (i.e., how to diminish the difference in the psychophysiological reactions between reality and simulation) by comparing psychophysiological reactions in simulation displayed on a computer screen and psychophysiological reactions in simulation displayed in virtual reality. Our results show that our participants tend to have stronger psychophysiological reactions in simulation displayed in virtual reality (suggesting a potential way of diminishing the effect of the reality gap).

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Gesturing at Subswarms: Towards Direct Human Control of Robot Swarms

Cited by 26 publications

References 9 publications

Mixed-Granularity Human-Swarm Interaction

Mixed-Granularity Human-Swarm Interaction

DronePick: Object Picking and Delivery Teleoperation with the Drone Controlled by a Wearable Tactile Display

Investigating the effect of the reality gap on the human psychophysiological state in the context of human-swarm interaction

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