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@MastersThesis{yehuda-msc,
author = {Yehuda Elmaliach},
title = {Single Operator Control of Coordinated Robot Teams},
school = {{B}ar {I}lan {U}niversity},
year = {2004},
OPTkey = {},
OPTtype = {},
OPTaddress = {},
OPTmonth = {},
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abstract = {
There is growing recognition that many applications of robots will
require a human operator to supervise and control multiple robots that
collaborate to achieve the operator's goals. However, the bulk of
existing work in this area assumes that robots are independent of each
other, and thus ignores key challenges and opportunities in monitoring
and operating tightly-coordinating teams. This thesis takes steps to
address these open issues. First, we address the challenge of
effectively monitoring multiple coordinating robots. We introduce a
graphical \emph{socially-attentive} display that explicitly shows the
state of coordination in the team, in terms of the robots' state with
respect to each other. As a result, the operator can easily detect
coordination failures, even before these cause overall failure in the
task. Second, we show that in resolving contingencies
(\emph{call-requests}), an opportunity exists for taking advantage of
the robots' teamwork, to allow the robots to actively assist the
operator. We propose a distributed approach to call-request resolution
(including two variations), and an implementation method for
behavior-based robots. This implementation method allows the operator
to quickly switch control between robots, even while they are active.
We evaluate all of these techniques in several multi-robot tasks, in
experiments with up to 25 operators, each controlling multiple
robots. The results show significant quantitative and qualitative
improvements in task completion times, number of coordination
failures, and performance consistency across operators.
},
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}