Integration of reactive and telerobotic control in multi-agent robotic systems
SAB94 Proceedings of the third international conference on Simulation of adaptive behavior : from animals to animats 3: from animals to animats 3
Towards human control of robot swarms
HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
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In this paper we address the problem of having a single operator control a team of unmanned aerial vehicles (UAVs). This is achieved by having the team execute a leader-follower coordinated behavior, where the leader is responsible for the execution of the high-level mission. The operator interacts with the system by selecting a leader and a decision support mechanism is provided whereby the system computes the best choice of leader in the current situation. This feedback is obtained through a novel, receding horizon optimal timing control that computes an on-line estimate as to the relative merits of selecting different vehicles as leaders. The method is implemented in a dynamic, 3D simulation environment, illustrating the soundness of the proposed approach.