Impact of VR Technology on a Human in Semi-autonomous Multi-robot Navigation: Control-Theoretic Perspective

Hatanaka, Takeshi; Mochizuki, Takashi; Torreblanca, Jose Maria Maestre; Chopra, Nikhil

doi:10.1016/j.ifacol.2023.01.100

Cited by 4 publications

(3 citation statements)

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“…[40], various model orders were examined under the restriction that all elements had to have the same number of poles and zeros, and we concluded that having 2 poles and 1 zero is the best for all of three interface selections and all network types, based on the fit ratio for the verification data. The fit ratios for the model in [40] are summarized in Table 5. As pointed out in [40], the model tends to have large resonance peaks in the non-diagonal elements, as can be seen in the blue curves in Fig.…”

Section: Discussionmentioning

confidence: 99%

“…The fit ratios for the model in [40] are summarized in Table 5. As pointed out in [40], the model tends to have large resonance peaks in the non-diagonal elements, as can be seen in the blue curves in Fig. 21.…”

Section: Discussionmentioning

confidence: 99%

“…Note that preliminary results only for the passivity-based architecture [23] were in part presented in a conference version in [40], however (ii) and (iii) are novel contributions added in this paper. Also, the human models in [40] had undesirable resonance peaks due to overfitting, and the model developed in this paper does not have such peaks.…”

Section: Introductionmentioning

confidence: 97%

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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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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%