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Towards human-friendly efficient control of multi-robot teams

Stoica, A and Theodoridis, T and Hu, H and McDonald-Maier, K and Barrero, DF (2013) Towards human-friendly efficient control of multi-robot teams. In: UNSPECIFIED, ? - ?.

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Abstract

This paper explores means to increase efficiency in performing tasks with multi-robot teams, in the context of natural Human-Multi-Robot Interfaces (HMRI) for command and control. The motivating scenario is an emergency evacuation by a transport convoy of unmanned ground vehicles (UGVs) that have to traverse, in shortest time, an unknown terrain. In the experiments the operator commands, in minimal time, a group of rovers through a maze. The efficiency of performing such tasks depends on both, the levels of robots' autonomy, and the ability of the operator to command and control the team. The paper extends the classic framework of levels of autonomy (LOA), to levels/hierarchy of autonomy characteristic of Groups (G-LOA), and uses it to determine new strategies for control. An UGV-oriented command language (UGVL) is defined, and a mapping is performed from the human-friendly gesture-based HMRI into the UGVL. The UGVL is used to control a team of 3 robots, exploring the efficiency of different G-LOA; specifically, by (a) controlling each robot individually through the maze, (b) controlling a leader and cloning its controls to followers, and (c) controlling the entire group. Not surprisingly, commands at increased G-LOA lead to a faster traverse, yet a number of aspects are worth discussing in this context. © 2013 IEEE.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: Proceedings of the 2013 International Conference on Collaboration Technologies and Systems, CTS 2013
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Users 161 not found.
Date Deposited: 17 Dec 2014 12:01
Last Modified: 23 Jan 2019 00:18
URI: http://repository.essex.ac.uk/id/eprint/9240

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