TY - GEN
T1 - Two variations of passivity-short-based semi-autonomous robotic swarms
AU - Atman, Made Widhi Surya
AU - Hay, Julian
AU - Yamauchi, Junya
AU - Hatanaka, Takeshi
AU - Fujita, Masayuki
N1 - Publisher Copyright:
© 2018 The Society of Instrument and Control Engineers - SICE.
PY - 2018/4/2
Y1 - 2018/4/2
N2 - Presence of a human operator in cooperation with a robotic swarm could enhance the mission performance and accommodate the sudden changes in environments or the goals. This paper investigates two similar architectures for a semi-autonomous robotic swarm under a passivity-short assumption of the human operator. The two architectures differ only in the visual feedback given to the human operator. In addition, we present the proofs that both architectures ensure the objective which is position/velocity synchronization of the robotic swarm to references determined by the human. Further analysis in differences between both architectures is then presented, by considering the same velocity command from the human operator and inspecting the visual feedbacks of each architecture. In addition, the effects on the transparency of all robots' actual trajectories to the visual feedback are also discussed. Finally, investigation involving several test-subjects is conducted by using human-in-the-loop simulation to investigate human responses on both architectures.
AB - Presence of a human operator in cooperation with a robotic swarm could enhance the mission performance and accommodate the sudden changes in environments or the goals. This paper investigates two similar architectures for a semi-autonomous robotic swarm under a passivity-short assumption of the human operator. The two architectures differ only in the visual feedback given to the human operator. In addition, we present the proofs that both architectures ensure the objective which is position/velocity synchronization of the robotic swarm to references determined by the human. Further analysis in differences between both architectures is then presented, by considering the same velocity command from the human operator and inspecting the visual feedbacks of each architecture. In addition, the effects on the transparency of all robots' actual trajectories to the visual feedback are also discussed. Finally, investigation involving several test-subjects is conducted by using human-in-the-loop simulation to investigate human responses on both architectures.
KW - Distributed motion synchronization and Human-in-the-loop simulation
KW - Interconnected passivity-short systems
KW - Semi-autonomous robotic swarm
UR - http://www.scopus.com/inward/record.url?scp=85049328229&partnerID=8YFLogxK
U2 - 10.23919/SICEISCS.2018.8330150
DO - 10.23919/SICEISCS.2018.8330150
M3 - 会議への寄与
AN - SCOPUS:85049328229
T3 - SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems
SP - 12
EP - 19
BT - SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 SICE International Symposium on Control Systems, SICE ISCS 2018
Y2 - 9 March 2018 through 11 March 2018
ER -