Controlling a team of robots with a single input
Name
Ayanian_ICRA2014.pdf
Description
Accepted version
Size
1.61 MB
Format
Adobe PDF
Checksum (MD5)
518dd6e9b0ad9c9d9849dcfcca6a7b47
Author(s)
Ayanian, Nora
Spielberg, Andrew
Arbesfeld, Matthew
Strauss, Jason
Rus, Daniela L
Date Issued
May 2014
Journal
Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Ayanian, Nora, Andrew Spielberg, Matthew Arbesfeld, et al. "Controlling a team of robots with a single input." In 2014 IEEE International Conference on Robotics and Automation (ICRA), 31 May-7 June 2014, Hong Kong, China. © 2014 IEEE.
Version
Author's final manuscript
Abstract
We present a novel end-to-end solution for distributed multirobot coordination that translates multitouch gestures into low-level control inputs for teams of robots. Highlighting the need for a holistic solution to the problem of scalable human control of multirobot teams, we present a novel control algorithm with provable guarantees on the robots' motion that lends itself well to input from modern tablet and smartphone interfaces. Concretely, we develop an iOS application in which the user is presented with a team of robots and a bounding box (prism). The user carefully translates and scales the prism in a virtual environment; these prism coordinates are wirelessly transferred to our server and then received as input to distributed onboard robot controllers. We develop a novel distributed multirobot control policy which provides guarantees on convergence to a goal with distance bounded linearly in the number of robots, and avoids interrobot collisions. This approach allows the human user to solve the cognitive tasks such as path planning, while leaving precise motion to the robots. Our system was tested in simulation and experiments, demonstrating its utility and effectiveness.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ICRA.2014.6907088
