TY - GEN
T1 - Integrating human swarm interaction in a distributed robotic control system
AU - Vasile, Cristian
AU - Pavel, Ana
AU - Buiu, Cǎtǎlin
PY - 2011
Y1 - 2011
N2 - A multi-agent control architecture for swarm robotics applications which includes an innovative human-swarm interface is proposed. The architecture is designed to allow an operator to monitor and guide a robotic swarm to accomplish its missions. The system is composed of three types of agents, a graphical user interface agent, and a pair of a local and a social agent for each robot in the swarm. The local agent implements low level robot-specific functionalities like movement, obstacle avoidance and localization. The control algorithm is implemented in the social agent and is based on an adapted distributed version of the Particle Swarm Optimization technique. An original method, Gravity Points Method, for representing goals which are used by the human-swarm interface is also proposed. Experimental results using simulated e-puck robots are presented and directions for further developments are given.
AB - A multi-agent control architecture for swarm robotics applications which includes an innovative human-swarm interface is proposed. The architecture is designed to allow an operator to monitor and guide a robotic swarm to accomplish its missions. The system is composed of three types of agents, a graphical user interface agent, and a pair of a local and a social agent for each robot in the swarm. The local agent implements low level robot-specific functionalities like movement, obstacle avoidance and localization. The control algorithm is implemented in the social agent and is based on an adapted distributed version of the Particle Swarm Optimization technique. An original method, Gravity Points Method, for representing goals which are used by the human-swarm interface is also proposed. Experimental results using simulated e-puck robots are presented and directions for further developments are given.
UR - http://www.scopus.com/inward/record.url?scp=82455168219&partnerID=8YFLogxK
U2 - 10.1109/CASE.2011.6042493
DO - 10.1109/CASE.2011.6042493
M3 - Conference contribution
AN - SCOPUS:82455168219
SN - 9781457717307
T3 - IEEE International Conference on Automation Science and Engineering
SP - 743
EP - 748
BT - 2011 IEEE International Conference on Automation Science and Engineering, CASE 2011
T2 - 2011 7th IEEE International Conference on Automation Science and Engineering, CASE 2011
Y2 - 24 August 2011 through 27 August 2011
ER -