Tina Setter, A. Fouraker, M. Egerstedt, H. Kawashima
{"title":"利用可操纵性与多机器人群体的触觉交互","authors":"Tina Setter, A. Fouraker, M. Egerstedt, H. Kawashima","doi":"10.5898/JHRI.4.1.Setter","DOIUrl":null,"url":null,"abstract":"This paper investigates how haptic interactions can be defined for enabling a single operator to control and interact with a team of mobile robots. Since there is no unique or canonical mapping from the swarm configuration to the forces experienced by the operator, a suitable mapping must be developed. To this end, multi-agent manipulability is proposed as a potentially useful mapping, whereby the forces experienced by the operator relate to how inputs, injected at precise locations in the team, translate to swarm-level motions. Small forces correspond to directions in which it is easy to move the swarm, while larger forces correspond to more costly directions. Initial experimental results support the viability of the proposed, haptic, human-swarm interaction mapping, through a user study where operators are tasked with driving a collection of robots through a series of way points.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2015-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.4.1.Setter","citationCount":"34","resultStr":"{\"title\":\"Haptic interactions with multi-robot swarms using manipulability\",\"authors\":\"Tina Setter, A. Fouraker, M. Egerstedt, H. Kawashima\",\"doi\":\"10.5898/JHRI.4.1.Setter\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper investigates how haptic interactions can be defined for enabling a single operator to control and interact with a team of mobile robots. Since there is no unique or canonical mapping from the swarm configuration to the forces experienced by the operator, a suitable mapping must be developed. To this end, multi-agent manipulability is proposed as a potentially useful mapping, whereby the forces experienced by the operator relate to how inputs, injected at precise locations in the team, translate to swarm-level motions. Small forces correspond to directions in which it is easy to move the swarm, while larger forces correspond to more costly directions. Initial experimental results support the viability of the proposed, haptic, human-swarm interaction mapping, through a user study where operators are tasked with driving a collection of robots through a series of way points.\",\"PeriodicalId\":92076,\"journal\":{\"name\":\"Journal of human-robot interaction\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-07-22\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://sci-hub-pdf.com/10.5898/JHRI.4.1.Setter\",\"citationCount\":\"34\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of human-robot interaction\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.5898/JHRI.4.1.Setter\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of human-robot interaction","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.5898/JHRI.4.1.Setter","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Haptic interactions with multi-robot swarms using manipulability
This paper investigates how haptic interactions can be defined for enabling a single operator to control and interact with a team of mobile robots. Since there is no unique or canonical mapping from the swarm configuration to the forces experienced by the operator, a suitable mapping must be developed. To this end, multi-agent manipulability is proposed as a potentially useful mapping, whereby the forces experienced by the operator relate to how inputs, injected at precise locations in the team, translate to swarm-level motions. Small forces correspond to directions in which it is easy to move the swarm, while larger forces correspond to more costly directions. Initial experimental results support the viability of the proposed, haptic, human-swarm interaction mapping, through a user study where operators are tasked with driving a collection of robots through a series of way points.