Abstract
A number of different interaction modalities have been proposed for human engagement with networked systems. In this paper, we establish formal guarantees for whether or not a given human-swarm interaction (HSI) strategy is appropriate for achieving particular multi-robot tasks, such as guiding a swarm of robots into a particular geometric configuration. In doing so, we define what it means to impose an HSI control structure on a multi-robot system. Control Lyapunov functions are used to establish feasibility for a user to achieve a particular geometric configuration with a multi-robot system under some selected HSI control structure. Several examples of multi-robot systems with unique HSI control structures are provided to illustrated the use of CLFs to establish feasibility. Additionally, we also uses these examples to illustrate how to use optimal control tools to compute three metrics for evaluating an HSI control structure: attention, effort, and scalability.
Published Version (
Free)
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
