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Camera guided teleoperation has long been the preferred mode for controlling remote robots, with other modes such as asynchronous control only used when unavoidable. In this experiment we evaluate the usefulness of asynchronous operation for a multirobot search task. Because controlling multiple robots places additional demands on the operator, removing the forced pace for reviewing camera video might...
Human control of multiple robots has been characterized by the average demand of single robots on human attention. While this matches situations in which independent robots are controlled sequentially it does not capture aspects of demand associated with coordinating dependent actions among robots. This paper presents an extension of Crandall's neglect tolerance model intended to accommodate both...
Conventional models of multirobot control assume independent robots and tasks. This allows an additive model in which the operator controls robots sequentially neglecting each until its performance deteriorates sufficiently to require new operator input. This paper presents a model and experiment intended to extend the neglect tolerance model to situations in which robots must cooperate to perform...
This paper presents USARSim, an open source high fidelity robot simulator that can be used both for research and education. USARSim offers many characteristics that differentiate it from most existing simulators. Most notably, it constitutes the simulation engine used to run the virtual robots competition within the Robocup initiative. We describe its general architecture, describe examples of utilization,...
Human control of multiple robots has been characterized by the average demand of single robots on human attention or the distribution of demands from multiple robots. When robots are allowed to cooperate autonomously, however, demands on the operator should be reduced by the amount previously required to coordinate their actions. The present experiment compares control of small robot teams in which...
We are developing interactive simulations of the National Institute of Standards and Technology (NIST) Reference Test Facility for Autonomous Mobile Robots (Urban Search and Rescue). The NIST USAR Test Facility is a standardized disaster environment consisting of three scenarios of progressive difficulty: Yellow, Orange, and Red arenas. The USAR task focuses on robot behaviors, and physical interaction...
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