Scheduling and Path-Planning for Operator Oversight of Multiple Robots

Robotics

Peter Dirksmeier¹  Taskin Padir¹  SebastiánA. Zanlongo²  Leonardo Bobadilla²  Philip Long³ 

[1] Department of Electrical and Computer Engineering, Northeastern University, Boston, MA 02115, USA;Knight Foundation School of Computing and Information Sciences, Florida International University, Miami, FL 33199, USA;Robotics & Automation Department, Irish Manufacturing Research, D24 WC04 Dublin, Ireland;

关键词: human robot interaction;    multi-robot coordination;    humanoid robots;    scheduling and coordination;    supervisory control;   

DOI  :  10.3390/robotics10020057

来源: DOAJ

【 摘 要 】

There is a need for semi-autonomous systems capable of performing both automated tasks and supervised maneuvers. When dealing with multiple robots or robots with high complexity (such as humanoids), we face the issue of effectively coordinating operators across robots. We build on our previous work to present a methodology for designing trajectories and policies for robots such that a few operators can supervise multiple robots. Specifically, we: (1) Analyze the complexity of the problem, (2) Design a procedure for generating policies allowing operators to oversee many robots, (3) Present a method for designing policies and robot trajectories to allow operators to oversee multiple robots, and (4) Include both simulation and hardware experiments demonstrating our methodologies.

【 授权许可】

Unknown