Kolling, A., Walker, P., Chakraborty, N. et al. (2 more authors) (2015) Human Interaction with Robot Swarms: A Survey. IEEE Transactions on Human-Machine Systems. ISSN 2168-2291
Abstract
Recent advances in technology are delivering robots of reduced size and cost. A natural outgrowth of these advances are systems comprised of large numbers of robots that collaborate autonomously in diverse applications. Research on effective autonomous control of such systems, commonly called swarms, has increased dramatically in recent years and received attention from many domains, such as bioinspired robotics and control theory. These kinds of distributed systems present novel challenges for the effective integration of human supervisors, operators, and teammates that are only beginning to be addressed. This paper is the first survey of human–swarm interaction (HSI) and identifies the core concepts needed to design a human–swarm system. We first present the basics of swarm robotics. Then, we introduce HSI from the perspective of a human operator by discussing the cognitive complexity of solving tasks with swarm systems. Next, we introduce the interface between swarm and operator and identify challenges and solutions relating to human–swarm communication, state estimation and visualization, and human control of swarms. For the latter, we develop a taxonomy of control methods that enable operators to control swarms effectively. Finally, we synthesize the results to highlight remaining challenges, unanswered questions, and open problems for HSI, as well as how to address them in future works.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 30 Oct 2015 13:39 |
Last Modified: | 08 Oct 2017 16:54 |
Published Version: | http://dx.doi.org/10.1109/THMS.2015.2480801 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Refereed: | Yes |
Identification Number: | 10.1109/THMS.2015.2480801 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:90476 |