Haptic Shared Control for Multi-Robot Systems
Haptic Shared Control for Multi-Robot Systems
This research proposes a modification to the global connectivity maintenance algorithm for multi-agent systems, integrating local frame measurements from sensors with limited fields of view. The approach combines this algorithm with adaptive supervision strategies—Single Agent Control, Pinning Control, and Centroid Control—to allow human operators to exert control at varying scales while receiving haptic feedback on system connectivity. A user study evaluates the effectiveness of these methods across multiple scenarios tailored to different control modes.
The study evaluates haptic shared control strategies for multi-robot systems, comparing single agent, pinning, and centroid control modes with and from a user study that measures performance under limited field-of-view sensor conditions.
Source: arXiv Robotics — research abstracts · Read original article ↗
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gorithm to incorporate measurements taken in agent's local frame, using sensors with limited fields of view. This algorithm, responsible for the autonomous behavior of the multi-robot system, is combined with different adaptive supervision strategies, allowing the user to exert control at varying scales over the entire group. (i) Single Agent Control (S): The operator directly controls a single robot, (ii) Pinning Co
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Source：arXiv Robotics — research abstracts · arxiv.org