Human-Swarm Interface for Abstraction Based Control

Pollini, Lorenzo; Niccolini, Marta; Rosellini, Michele; Innocenti, Mario

doi:10.2514/6.2009-5652

Cited by 5 publications

(2 citation statements)

References 2 publications

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“…Again, we remind the reader that this simple academic example did not require visiting all targets. The real time implementation of the concepts presented in the paper, and described by the above examples, was partially performed with RC cars, and can be found in [38].…”

Section: Examplementioning

confidence: 99%

Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions

Niccolini¹,

Pollini

Innocenti

2014

JSAN

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The paper presents a novel methodology for the control management of a swarm of autonomous vehicles. The vehicles, or agents, may have different skills, and be employed for different missions. The methodology is based on the definition of descriptor functions that model the capabilities of the single agent and each task or mission. The swarm motion is controlled by minimizing a suitable norm of the error between agents’ descriptor functions and other descriptor functions which models the entire mission. The validity of the proposed technique is tested via numerical simulation, using different task assignment scenarios

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Section: Examplementioning

confidence: 99%

Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions

Niccolini¹,

Pollini

Innocenti

2014

JSAN

Self Cite

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“…In particular when dealing with many robots it is therefore crucial to have an intuitive and clear sight of the swarm state, with enough information for situational awareness and the possibility to control the single agents [1]. This has been taken into account in the current work, that has been focused on the analysis of the performances of human operators using a custom-built human-swarm interface in different tasks and with different visual information (i.e.…”

Section: Introductionmentioning

confidence: 99%

Usability evaluation with different viewpoints of a Human-Swarm interface for UAVs control in formation

Recchiuto

Sgorbissa

Zaccaria

2015

2015 24th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)

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A common way to organize a high number of robots, both when moving autonomously and when controlled by a human operator, is to let them move in formation. This is a principle that takes inspiration from the nature, that maximizes the possibility of monitoring the environment and therefore of anticipating risks and finding targets. In robotics, alongside these reasons, the organization of a robot team in a formation allows a human operator to deal with a high number of agents in a simpler way, moving the swarm as a single entity. In this context, the typology of visual feedback is fundamental for a correct situational awareness, but in common practice having an optimal camera configuration is not always possible. Usually human operators use cameras on board the multirotors, with an egocentric point of view, while it is known that in mobile robotics overall awareness and pattern recognition are optimized by exocentric views. In this article we present an analysis of the performance achieved by human operators controlling a swarm of UAVs in formation, accomplishing different tasks and using different point of views. The control architecture is implemented in a ROS framework and interfaced with a 3D simulation environment. Experimental tests show a degradation of performance while using egocentric cameras with respect of an exocentric point of view, although cameras on board the robots allow to satisfactorily accomplish simple tasks.

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