Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Towards human control of robot swarms
HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
Human-swarm interaction: sources of uncertainty
Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
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In practical applications of robot swarms with bio-inspired behaviors, a human operator will need to exert control over the swarm to fulfill the mission objectives. In many operational settings, human operators are remotely located and the communication environment is harsh. Hence, there exists some latency in information (or control command) transfer between the human and the swarm. In this paper, we conduct experiments of human-swarm interaction to investigate the effects of communication latency on the performance of a human-swarm system in a swarm foraging task. We develop and investigate the concept of neglect benevolence, where a human operator allows the swarm to evolve on its own and stabilize before giving new commands. Our experimental results indicate that operators exploited neglect benevolence in different ways to develop successful strategies in the foraging task. Furthermore, we show experimentally that the use of a predictive display can help mitigate the adverse effects of communication latency.