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Methods And Metrics For Human Control Of Multi-Robot Teams, Jeffrey D. Anderson
Methods And Metrics For Human Control Of Multi-Robot Teams, Jeffrey D. Anderson
Theses and Dissertations
Human-controlled robots are utilized in many situations and such use is becoming widespread. This thesis details research that allows a single human to interact with a team of robots performing tasks that require cooperation. The research provides insight into effective interaction design methods and appropriate interface techniques. The use of team-level autonomy is shown to decrease human workload while simultaneously improving individual robot efficiency and robot-team cooperation. An indoor human-robot interaction testbed was developed at the BYU MAGICC Lab to facilitate experimentation. The testbed consists of eight robots equipped with wireless modems, a field on which the robots move, an …
Human Interfaces For Cooperative Control Of Multiple Vehicle Systems, Jisang Sun
Human Interfaces For Cooperative Control Of Multiple Vehicle Systems, Jisang Sun
Theses and Dissertations
This thesis presents a human interface which helps users efficiently allocate multiple unmanned ground vehicles (UGVs) cooperating to accomplish timing-sensitive missions in an urban environment. The urban environment consists of obstacles and a hazardous region. The obstacles represent a "no-go zone" while the hazardous region represents a high-risk area. The main object of this problem is to minimize the team operational cost while satisfying timing constraints. Operational costs for individual vehicles are based on risk and power consumption, and are calculated using path length and vehicle velocity. In this thesis, three types of timing constraints are considered: simultaneous arrival, tight …