Human-swarm collaboration with coverage control under nonidentical and limited sensory ranges

Li, Wei Tao; Liu, Yen‐Chen

doi:10.1016/j.jfranklin.2019.07.030

Cited by 9 publications

(1 citation statement)

References 29 publications

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“…In this paradigm, the operator is modeled as a passive system. Beyond traditional one-human-one-robot teleoperation, teaming between a human and multiple robots has been investigated in the literature, including the scenarios of cooperative payload manipulation [7], [8], [9], [10], multi-robot navigation [11], [12], [13], and an exploration task [14], [15]. Meanwhile, relatively few papers have questioned the validity of the passivity assumption imposed on the human operator.…”

Section: Introductionmentioning

confidence: 99%

Human Modeling and Passivity Analysis for Semi-Autonomous Multi-Robot Navigation in Three Dimensions

Hatanaka,

Mochizuki,

Sumino

et al. 2024

IEEE Open J. Control. Syst.

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In this paper, we study a one-human-multiple-robot interaction for human-enabled multi-robot navigation in three dimensions. We employ two fully distributed control architectures designed based on human passivity and human passivity shortage. The first half of this paper focuses on human modeling and analysis for the passivity-based control architecture through human operation data on a 3-D human-inthe-loop simulator. Specifically, we compare virtual reality (VR) interfaces with a traditional interface, and examine the impacts that VR technology has on human properties in terms of model accuracy, performance, passivity and workload, demonstrating that VR interfaces have a positive effect on all aspects. In contrast to 1-D operation, we confirm that operators hardly attain passivity regardless of the network structure, even with the VR interfaces. We thus take the passivity-shortage-based control architecture and analyze the degree of passivity shortage. We then observe through user studies that operators tend to meet the degree of shortage needed to prove closed-loop stability.

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