Abstract
Autonomous swarms of robots can bring robustness, scalability and adaptability to safety-critical tasks such as search and rescue but their application is still very limited. Using semi-autonomous swarms with human control can bring robot swarms to real-world applications. Human operators can define goals for the swarm, monitor their performance and interfere with, or overrule, the decisions and behaviour. We present the ``Human And Robot Interactive Swarm'' simulator (HARIS) that allows multi-user interaction with a robot swarm and facilitates qualitative and quantitative user studies through simulation of robot swarms completing tasks, from package delivery to search and rescue, with varying levels of human control. In this demonstration, we showcase the simulator by using it to study the performance gain offered by maintaining a ``human-in-the-loop'' over a fully autonomous system as an example. This is illustrated in the context of search and rescue, with an autonomous allocation of resources to those in need.
Abstract (translated)
机器人群集( Swarms of robots)可以在搜索和救援等安全性关键任务中提供 robustness、 scalability 和灵活性,但是其应用仍然非常有限。使用具有人类控制下的半自主机器人群集可以将其带到现实世界的应用中。人类操作员可以定义机器人群集的目标,监测其表现,干扰或推翻决策和行为。我们介绍了“人类和机器人互动群集模拟器”(Haris),它允许多个用户与机器人群集交互,并通过模拟机器人群集完成任务,从包裹配送到搜索和救援,在不同水平人类控制的情况下提供定性和定量的用户研究。在这个演示中,我们展示了模拟器,并通过使用它来研究保持“人类参与循环”对完全自主系统的性能增益的影响。这个例子在搜索和救援上下文中得到了体现,通过自主分配资源以援助需要的人。
URL
https://arxiv.org/abs/2303.12390
