Li, Huao and Bang, Jaeho and Nagavalli, Sasanka and Nam, Changjoo and Lewis, Michael and Sycara, Katia
(2018)
Human Interaction Through an Optimal Sequencer to Control Robotic Swarms.
In: 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 7-10 Oct 2018, Miyazaki, Japan.
Abstract
The interaction between swarm robots and human operators is significantly different from the traditional humanrobot interaction due to unique characteristics of the system, such as high cognitive complexity and difficulties in state estimation. In this paper, we concentrate on a method for conveying input from the operator to the swarm. Previous research has shown that control through switching between behaviors offers the greatest flexibility but is particularly difficult for human operators. A recently developed method for finding optimal sequences for composing behaviors offers a potential tool for aiding human operators controlling swarms through behavior switching. This paper compares participants performing a navigation task with and without the availability of an optimal sequencing aid. Results
show that the task of preplanning a sequence of behaviors and durations is more difficult for participants than switching between executing behaviors to navigate. Users who used the aid frequently created shorter paths than infrequent users and the control group. In the trials that the aid was used, participants tended to generate more complicated sequences and achieve the first attempt more rapidly, than trials in which the aid was not used.
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| Item Type: |
Conference or Workshop Item
(Paper)
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| Status: |
Published |
| Creators/Authors: |
|
| Date: |
2018 |
| Journal or Publication Title: |
2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC) |
| Publisher: |
IEEE |
| Event Title: |
2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC) |
| Event Dates: |
7-10 Oct 2018 |
| Event Type: |
Conference |
| Schools and Programs: |
School of Computing and Information > Information Science |
| Refereed: |
Yes |
| Date Deposited: |
31 May 2019 15:57 |
| Last Modified: |
31 May 2019 15:57 |
| URI: |
http://d-scholarship.pitt.edu/id/eprint/36822 |
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