Related papers: Effects of Swarm Size Variability on Operator Work…
In robotics, understanding human interaction with autonomous systems is crucial for enhancing collaborative technologies. We focus on human-swarm interaction (HSI), exploring how differently sized groups of active robots affect operators'…
How does the size of a swarm affect its collective action? Despite being arguably a key parameter, no systematic and satisfactory guiding principles exist to select the number of units required for a given task and environment. Even when…
While it is relatively easy to imitate and evolve natural swarm behavior in simulations, less is known about the social characteristics of simulated, evolved swarms, such as the optimal (evolutionary) group size, why individuals in a swarm…
Despite the advantages of having robot swarms, human supervision is required for real-world applications. The performance of the human-swarm system depends on several factors including the data availability for the human operators. In this…
An open research question has been whether a single human can supervise a true heterogeneous swarm of robots completing tasks in real world environments. A general concern is whether or not the human's workload will be taxed to the breaking…
Successful human-robot teaming will require robots to adapt autonomously to a human teammate's internal state, where a critical element of such adaptation is the ability to estimate the human's workload in unknown situations. Existing…
We study size-based schedulers, and focus on the impact of inaccurate job size information on response time and fairness. Our intent is to revisit previous results, which allude to performance degradation for even small errors on job size…
Human-robot teams must be aware of human workload when operating in uncertain, dynamic environments. Prior work employed physiological response metrics from wearable sensors to estimate the current human workload; however, these estimates…
Human supervisors in multi-robot systems are primarily responsible for monitoring robots, but can also be assigned with secondary tasks. These tasks can act as interruptions and can be categorized as either intrinsic, i.e., being directly…
Swarm Intelligence (SI) is the property of a system whereby the collective behaviors of (unsophisticated) entities interacting locally with their environment cause coherent functional global patterns to emerge. SI provides a basis with wich…
Swarms evolving from collective behaviors among multiple individuals are commonly seen in nature, which enables biological systems to exhibit more efficient and robust collaboration. Creating similar swarm intelligence in engineered robots…
Unraveling the nature of the communication model that governs which two individuals in a swarm interact with each other is an important line of inquiry in the collective behavior sciences. A number of models have been proposed in the…
Demanding task environments (e.g., supervising a remotely piloted aircraft) require performing tasks quickly and accurately; however, periods of low and high operator workload can decrease task performance. Intelligent modulation of the…
Swarm robotic systems are mainly inspired by swarms of socials insects and the collective emergent behavior that arises from their cooperation at the lower lever. Despite the limited sensory ability, computational power, and communication…
When designing swarm-robotic systems, systematic comparison of algorithms from different domains is necessary to determine which is capable of scaling up to handle the target problem size and target operating conditions. We propose a set of…
One of the most important promises of decentralized systems is scalability, which is often assumed to be present in robot swarm systems without being contested. Simple limitations, such as movement congestion and communication conflicts,…
Adapting to task changes without forgetting previous knowledge is a key skill for intelligent systems, and a crucial aspect of lifelong learning. Swarm controllers, however, are typically designed for specific tasks, lacking the ability to…
As groups of robots increasingly collaborate with humans, understanding how humans perceive them is critical for designing effective human-robot teams. While prior research examined how humans interpret and evaluate the abilities and…
Recent hardware developments have dramatically increased the scale of data parallelism available for neural network training. Among the simplest ways to harness next-generation hardware is to increase the batch size in standard mini-batch…
Applications of large-scale mobile multi-robot systems can be beneficial over monolithic robots because of higher potential for robustness and scalability. Developing controllers for multi-robot systems is challenging because the multitude…