Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Effective robot team control methodologies for battlefield applications
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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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Human interaction with robot swarms (HSI) is a young field with very few user studies that explore operator behavior. All these studies assume perfect communication between the operator and the swarm. A key challenge in the use of swarm robotic systems in human supervised tasks is to understand human swarm interaction in the presence of limited communication bandwidth, which is a constraint arising in many practical scenarios. In this paper, we present results of human-subject experiments designed to study the effect of bandwidth limitations in human swarm interaction. We consider three levels of bandwidth availability in a swarm foraging task. The lowest bandwidth condition performs poorly, but the medium and high bandwidth condition both perform well. In the medium bandwidth condition, we display useful aggregated swarm information (like swarm centroid and spread) to compress the swarm state information. We also observe interesting operator behavior and adaptation of operators' swarm reaction.