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首页> 外文期刊>Journal of Intelligent & Robotic Systems: Theory & Application >Contribution to Human Multi-Robot System Interaction Application to a Multi-Robot Mission Editor
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Contribution to Human Multi-Robot System Interaction Application to a Multi-Robot Mission Editor

机译：为多机器人任务编辑器贡献人类多机器人系统交互应用程序

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摘要

The general objective of this work is to model and conceive a system allowing a user, more particularly a disabled person, to give a mission to a team of robots in a structured indoor type environment and to determine the whole processes necessary to its execution. The missions are of assistance type, objects displacement and site monitoring. The increase of the robots number involves additional management difficulties, thus there is a crucial need for providing an interface adapted for the input and the supervision of this type of mission. We propose a model based on two levels of abstraction through which the user request is analyzed. A first level takes care of the syntactic and semantics checkings by validating and supplementing the request. A second level takes care of the geometrical checkings and validates the passage of the robots in formation for the transport of an object. The result is then presented to the user. The originality of this work stands mainly in the approach of the human multi-robot system interaction. The proposed system is participative, interactive and incremental, with an active assistance to the mission specification. A solution for setting up the levels of the model is proposed as well as examples of use.
机译：这项工作的总体目标是对系统进行建模和构思，该系统允许用户（尤其是残疾人）在结构化的室内类型环境中对一组机器人执行任务，并确定执行该系统所需的整个过程。这些任务是援助型，物体移位和现场监测。机器人数量的增加涉及额外的管理困难，因此迫切需要提供一种适合于这种任务的输入和监视的界面。我们提出了一个基于两个抽象级别的模型，通过该模型可以分析用户请求。第一层通过验证和补充请求来处理语法和语义检查。第二级负责几何检查，并验证机器人在运输中通过物体的能力。然后将结果呈现给用户。这项工作的创意主要体现在人类多机器人系统交互的方法上。拟议的系统是参与性，交互式和增量式的，并在任务说明的积极协助下。提出了用于设置模型级别的解决方案以及使用示例。

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