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Towards human control of robot swarms

Kolling, Andreas and Nunnally, Steven and Lewis, Michael (2012) Towards human control of robot swarms. In: HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction, Boston.

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Abstract

In this paper we investigate principles of swarm control that enable a human operator to exert influence on and control large swarms of robots. We present two principles, coined selection and beacon control, that differ with respect to their temporal and spatial persistence. The former requires active selection of groups of robots while the latter exerts a passive influence on nearby robots. Both principles are implemented in a testbed in which operators exert influence on a robot swarm by switching between a set of behaviors ranging from trivial behaviors up to distributed autonomous algorithms. Performance is tested in a series of complex foraging tasks in environments with different obstacles ranging from open to cluttered and structured. The robotic swarm has only local communication and sensing capabilities with the number of robots ranging from 50 to 200. Experiments with human operators utilizing either selection or beacon control are compared with each other and to a simple autonomous swarm with regard to performance, adaptation to complex environments, and scalability to larger swarms. Our results show superior performance of autonomous swarms in open environments, of selection control in complex environments, and indicate a potential for scaling beacon control to larger swarms.


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Details

Item Type: Conference or Workshop Item (Paper)
Status: Published
Creators/Authors:
CreatorsEmailPitt UsernameORCID
Kolling, Andreas
Nunnally, Steven
Lewis, Michael
Date: 2012
Date Type: Publication
Publisher: ACM
Page Range: 89 - ?
Event Title: HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
Event Type: Conference
DOI or Unique Handle: 10.1145/2157689.2157704
Schools and Programs: School of Information Sciences > Information Science
Refereed: Yes
Official URL: http://dx.doi.org/10.1145/2157689.2157704
Related URLs:
Date Deposited: 14 Jun 2012 14:32
Last Modified: 01 Nov 2017 12:55
URI: http://d-scholarship.pitt.edu/id/eprint/12386

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