Characterizing and facilitating human interactions with swarms of mobile robots

De la Croix, Jean-Pierre

Title:

Characterizing and facilitating human interactions with swarms of mobile robots

dc.contributor.advisor	Egerstedt, Magnus B.
dc.contributor.author	De la Croix, Jean-Pierre
dc.contributor.committeeMember	Feron, Eric
dc.contributor.committeeMember	Howard, Ayanna M.
dc.contributor.committeeMember	Ferri, Bonnie H.
dc.contributor.committeeMember	Thomaz, Andrea L.
dc.contributor.department	Electrical and Computer Engineering
dc.date.accessioned	2015-06-08T18:27:45Z
dc.date.available	2015-06-08T18:27:45Z
dc.date.created	2015-05
dc.date.issued	2015-02-20
dc.date.submitted	May 2015
dc.date.updated	2015-06-08T18:27:45Z
dc.description.abstract	Since humans and robots often share workspaces and interact with each other to complete tasks cooperatively, as is the case, for example, in automated warehouses and assembly lines, much of the focus has been centered on supporting human interactions with one or a few robots. As the number of robots involved in a task grows large, scalable abstractions are needed to support interactions with larger numbers of robots. Consequently, there has been a growing effort to understand human-swarm interactions (HSIs) and devise abstractions that are amenable to having humans interact with swarms of robots easily and effectively. In this dissertation, we investigate what it means to impose a control structure on a swarm of robots for the purpose of supporting a specific HSI, when such a control structure is suitable for allowing a user to solve a particular task with a swarm of robots, how one can evaluate attention and effort required to interact with a swarm of robots through a particular control structure, how well attention and effort scale as the number of robots in the swarm increases, why some swarms of robots are easier to interact with than others under the same type of control structure, how to select an appropriate swarm size, and how to design new input controllers for interacting with swarm of mobile robots. Consequently, this dissertation provides a comprehensive framework for characterizing, understanding, and designing the control structures of new abstractions that will be amenable to humans interacting with swarms of networked mobile robots, as well as, a number of examples of such old and new abstractions investigated under this framework.
dc.description.degree	Ph.D.
dc.format.mimetype	application/pdf
dc.identifier.uri	http://hdl.handle.net/1853/53524
dc.language.iso	en_US
dc.publisher	Georgia Institute of Technology
dc.subject	Control theory
dc.subject	Robotics
dc.subject	Human-swarm interactions
dc.title	Characterizing and facilitating human interactions with swarms of mobile robots
dc.type	Text
dc.type.genre	Dissertation
dspace.entity.type	Publication
local.contributor.advisor	Egerstedt, Magnus B.
local.contributor.author	Egerstedt, Magnus B.
local.contributor.corporatename	School of Electrical and Computer Engineering
local.contributor.corporatename	College of Engineering
local.contributor.corporatename	Institute for Robotics and Intelligent Machines (IRIM)
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thesis.degree.level	Doctoral