Deformable-medium affordances for interacting with multi-robot systems

This paper addresses the issue of human-swarm interactions by proposing a new set of affordances that make a multi-robot system amenable to human control. In particular, we propose to use clay- a deformable medium- as the “joystick” for controlling the swarm, supporting such affordances as stretching, splitting and merging, shaping, and mixing. The contribution beyond the formulation of these affordances is the coupling of an image recognition framework to decentralized control laws for the individual robots, and the developed human-swarm interaction methodology is applied to a team of mobile robots.

[1]  Richard M. Murray,et al.  Information flow and cooperative control of vehicle formations , 2004, IEEE Transactions on Automatic Control.

[2]  Steven V. Viscido,et al.  Self-Organized Fish Schools: An Examination of Emergent Properties , 2002, The Biological Bulletin.

[3]  James McLurkin,et al.  Speaking Swarmish: Human-Robot Interface Design for Large Swarms of Autonomous Mobile Robots , 2006, AAAI Spring Symposium: To Boldly Go Where No Human-Robot Team Has Gone Before.

[4]  Magnus Egerstedt,et al.  Graph Theoretic Methods in Multiagent Networks , 2010, Princeton Series in Applied Mathematics.

[5]  Zsolt Kira,et al.  Exerting human control over decentralized robot swarms , 2000, 2009 4th International Conference on Autonomous Robots and Agents.

[6]  Michael A. Goodrich,et al.  On using mixed-initiative control: A perspective for managing large-scale robotic teams , 2009, 2009 4th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[7]  R. Deriche,et al.  Geodesic Active Regions for Texture Segmentation , 1998 .

[8]  Francesco Mondada,et al.  The Development of Khepera , 1999 .

[9]  Michael E. Leventon,et al.  Statistical models in medical image analysis , 2000 .

[10]  Edwin Olson,et al.  Progress toward multi‐robot reconnaissance and the MAGIC 2010 competition , 2012, J. Field Robotics.

[11]  Magnus Egerstedt,et al.  Distributed-infrastructure multi-robot routing using a Helmholtz-Hodge decomposition , 2011, IEEE Conference on Decision and Control and European Control Conference.

[12]  Anthony J. Yezzi,et al.  A statistical approach to snakes for bimodal and trimodal imagery , 1999, Proceedings of the Seventh IEEE International Conference on Computer Vision.

[13]  Alan F. T. Winfield,et al.  Special issue on swarm robotics , 2008, Swarm Intelligence.

[14]  S. Osher,et al.  Algorithms Based on Hamilton-Jacobi Formulations , 1988 .

[15]  W ReynoldsCraig.  Flocks, herds and schools: A distributed behavioral model , 1987 .

[16]  Rémi Ronfard,et al.  Region-based strategies for active contour models , 1994, International Journal of Computer Vision.

[17]  Gunilla Borgefors,et al.  Distance transformations in digital images , 1986, Comput. Vis. Graph. Image Process..

[18]  Miroslav Krstic,et al.  Multiagent Deployment Over a Source , 2012, IEEE Transactions on Control Systems Technology.

[19]  三嶋 博之.  The theory of affordances , 2008 .

[20]  J. Sethian,et al.  Fronts propagating with curvature-dependent speed: algorithms based on Hamilton-Jacobi formulations , 1988 .

[21]  Magnus Egerstedt,et al.  Controllability Characterizations of Leader-Based Swarm Interactions , 2012, AAAI Fall Symposium: Human Control of Bioinspired Swarms.

[22]  Tony F. Chan,et al.  Active contours without edges , 2001, IEEE Trans. Image Process..

[23]  Christian Blum,et al.  Swarm Intelligence: Introduction and Applications , 2008, Swarm Intelligence.

[24]  Yoshio Kawauchi,et al.  Structure decision method for self organising robots based on cell structures-CEBOT , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[25]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[26]  Mary L. Cummings,et al.  Modeling multiple human operators in the supervisory control of heterogeneous unmanned vehicles , 2009, PerMIS.

[27]  Ronald C. Arkin,et al.  Integration of reactive and telerobotic control in multi-agent robotic systems , 1994 .

[28]  W. Eric L. Grimson,et al.  A shape-based approach to the segmentation of medical imagery using level sets , 2003, IEEE Transactions on Medical Imaging.