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Title: Human-swarm robot interaction with different awareness constraints
Author: Kapellmann-Zafra, Gabriel
ISNI:       0000 0004 6494 0958
Awarding Body: University of Sheffield
Current Institution: University of Sheffield
Date of Award: 2017
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Swarm robots are not yet ready to work in real world environments in spaces shared with humans. The real world is unpredictable, complex and dynamic, and swarm systems still are unable to adapt to unexpected situations. However, if humans were able to share their experience and knowledge with these systems, swarm robots could be one step closer to work outside the research labs. To achieve this, research must be done challenging human interaction with more realistic real world environment constraints. This thesis presents a series of studies that explore how human operators with limited situational and/or task awareness interact with swarms of robots. It seeks to inform the development of interaction methodologies and interfaces so that they are better adapted to real world environments. The first study explores how an operator with bird's-eye perspective can guide a swarm of robots when transporting a large object through an environment with obstacles. As an attempt to better emulate some restricted real world environments, in the second study, the operator is restricted from access to the bird's-eye perspective. This restriction limits the operator's situational awareness while they are collaborating with the swarm. Finally, limited task awareness was included as a additional restriction. In this third study, the operator not only has to deal with limited situational awareness but also with limited information regarding the objective. Results show that awareness limitations can have significant negative effects over the operator's performance, yet these effects can be overcome with proper training methods. Through all studies a series of experiments are conducted where operators interact with swarms of either real or simulated robots. In both cases, the development of the interaction interfaces suggest that careful design can support the operator in the process of overcoming awareness problems.
Supervisor: Gross, Roderich ; Kolling, Andreas Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available