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We report on the development of a new simulation environment for use in Multi-Robot Learning, Swarm Robotics, Robot Teaming, Human Factors and Operator Training. The simulator provides a realistic environment for examining methods for localization and navigation, sensor analysis, object identification and tracking, as well as strategy development, interface refinement and operator training (based...
This paper proposes a navigation algorithm that considers the states of humans and other robots in order to achieve harmonious coexistence between robots and humans. When navigating through humans and robots with different functions, a robot should not only pay attention to obstacle avoidance and goal seeking, it should also take care of whether it interferes with other people or robots. To deal with...
We developed an intelligent agent, RoboLeader, that could assist human operators in route planning for a team of ground robots. We compared the operators' target detection performance in the 4-robot and 8-robot conditions. Results showed that the participants detected significantly less targets and had significantly worse situation awareness when there were 8 robots compared to the 4-robot condition...
We discuss an experiment involving visual path planning for multiple, remote robots in a partially visible building, with a partial 2D map available. Participants in the experiment defined waypoints for each robot to circumnavigate obstacles and explore the building. A cognitively plausible model of visual planning is evaluated using a normalized metric of the fit between model and subject itineraries...
The paper regards development of an ambient intelligent (aware), multi agent, robot-sensor networks for outdoor surveillance and monitoring of human living and working environments. Heterogeneous robot-sensor system consists of autonomous, ambient aware, robust outdoor mobile robots for performing environmental tasks and networked distributed terrestrial and water sensors integrated into the unique...
A theoretical framework for generating navigation behaviour patterns in mixed human-robot groups in complex environments is proposed. This framework represents an essential part in the development of a multiple robot-human system for assisting fire-fighters in search and rescue operations in the GUARDIANS project. In order to produce the desired behaviours an artificial potential field method has...
When an emergency occurs within a building, it may be initially safer to send autonomous mobile nodes, instead of human responders, to explore the area and identify hazards and victims. Exploring all the area in the minimum amount of time and reporting back interesting findings to the human personnel outside the building is an essential part of rescue operations. Our assumptions are that the area...
Human judgement is an integral part of the teleoperation process, heavily influenced by the rate in which commands are given to and the telemetry data is received from the robot. In this paper a multi-agent system for robot teleoperation is proposed. Several entities (e.g. robot or human) can easily be added and removed. In addition, this approach fosters a shared notion of reality to every entity...
Performance of robots in human robot teams has always been a topic of interest for many researchers in human robot interaction community. Traditionally adopted Crandall's model for performance measurements assume ideal conditions in which the operator switches control between robots sequentially based on acceptable performance level ignoring any false alarms due to erroneous interactions. In this...
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