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Towards Single-Operator Control of Tightly-Coordinated Robot Teams
| Content Provider | CiteSeerX |
|---|---|
| Abstract | There is growing recognition that many applications of robots will require a human operator to direct 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 paper takes steps to address these open issues. First, we introduce a graphical display that explicitly shows the 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. We also take advantage of the robots' teamwork, to allow the robots to actively assist the operator in maintaining her control of the team. We evaluate these techniques in several multirobot tasks, and show that they lead to significant improvements in task completion time, and number of coordination failures during execution. |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Several Multirobot Task Coordination Failure Ignores Key Challenge Single-operator Control Task Completion Time Cause Overall Failure Tightly-coordinated Robot Team Tightly-coordinating Team Graphical Display |
| Content Type | Text |
| Resource Type | Article |
