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Yehuda Elmaliach and Gal A.
Kaminka. Robust Multi-Robot Formations under Human Supervision and Control. Journal of Physical Agents,
2(1):31–52, 2008.
There is considerable commercial interest in formation-maintenance tasks, where robots move together while maintaining a geometric shape. This interest is motivated by promise of robustly and efficiently moving multiple robots along a path chosen for them by a human operator. This paper presents a comprehensive solution for this task, which includes: (i) a novel method for fusing open- and closed- loop controllers, for robust formation-maintenance; (ii) an ecological display, allowing a human operator to monitor and guide robots, while improving their performance and reducing the failure rate; and (iii) a set of methods for interacting with the formation in the case of a disconnect in the formation. We evaluate each of these contributions in extensive experiments, including 25 human operators. We show significant improvements in performance (in terms of movement time), robustness (both in number of failures, as well as failure rate), and consistency between operators.
Available on the the journal web page at: http://www.jopha.net/index.php/jopha/article/view/17. Movies demonstrating the technique in action can be found at http://www.cs.biu.ac.il/~maverick/Movies/
@Article{jopha08,
author = {Yehuda Elmaliach and Gal A. Kaminka},
title = {Robust Multi-Robot Formations under Human Supervision and Control},
journal = JOPHA,
year = {2008},
OPTkey = {},
volume = {2},
number = {1},
abstract = {There is considerable commercial interest in formation-maintenance tasks, where
robots move together while maintaining a geometric shape. This interest is motivated by promise
of robustly and efficiently moving multiple robots along a path chosen for them by a human operator. This paper presents a comprehensive solution for this task, which includes: (i) a novel method for fusing open- and closed- loop controllers, for robust formation-maintenance; (ii) an ecological display, allowing a human operator to monitor and guide robots, while improving
their performance and reducing the failure rate; and (iii) a set of methods for interacting
with the formation in the case of a disconnect in the formation. We evaluate
each of these contributions in extensive experiments, including 25 human operators. We show
significant improvements in performance (in terms of movement time), robustness (both in number
of failures, as well as failure rate), and consistency between operators.},
pages = {31--52},
wwwnote = {},
OPTmonth = {},
OPTnote = {},
OPTannote = {}
}
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