Abstract
Conventional models of multirobot control assume independent robots and tasks. This allows an additive model in which the operator controls robots sequentially neglecting each until its performance deteriorates sufficiently to require new operator input. This paper presents a measure of coordination demand, CD, and experiments intended to extend the neglect tolerance model to situations in which robots must cooperate to perform dependent tasks. In the first experiment operators controlled 2 robot teams to perform a box pushing task under high coordination demand, teleoperation, moderate demand (waypoint control/heterogeneous robots), and low demand (waypoint control/homogeneous robots) conditions. In the second experiment participants performed a search and rescue task requiring cooperation between robots creating maps and others carrying cameras. Measured demand and performance were largely consistent with the CD model's predictions.
Sign-in/Register to access full text options 
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 callMore From: Human Factors and Ergonomics Society Annual Meeting Proceedings
Disclaimer: 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.
