Cornell University
Library
Cornell UniversityLibrary

eCommons

Help
Log In(current)
  1. Home
  2. Cornell University Graduate School
  3. Cornell Theses and Dissertations
  4. Enabling Human Support of Robot Swarms

Enabling Human Support of Robot Swarms

File(s)
Patel_cornell_0058O_10288.pdf (6.01 MB)
Permanent Link(s)
https://doi.org/10.7298/X42B8W78
https://hdl.handle.net/1813/59482
Collections
Cornell Theses and Dissertations
Author
Patel, Vaidehi Hitesh
Abstract

Autonomous robot swarms may offer efficient and parallel task execution compared to single robot systems. They are also more robust than a single robot, but not free of failures. It is difficult for a human to monitor the swarm, because the state space grows exponentially with the number of robots presenting a very high cognitive load. Moreover, errors in robot swarms propagate non-intuitively and it becomes harder to monitor and debug the swarm. Previous works have looked into enabling control of robot swarms by a human user. We instead present a framework that allows a non- expert user to support the robot swarm in the presence of errors by use of a GUI. It enables monitoring, verification and viewing analysis on both robot and swarm behavior. We believe that this framework is a step forward to moving swarms from lab settings to real-world scenarios.

Date Issued
2018-05-30
Keywords
Robotics
•
Cognitive psychology
•
Computer science
•
analysis
•
cognitive load
•
debug
•
HSI
•
non-expert user
•
robot swarm
Committee Chair
Petersen, Kirstin Hagelskjaer
Committee Member
Selman, Bart
Degree Discipline
Computer Science
Degree Name
M.S., Computer Science
Degree Level
Master of Science
Type
dissertation or thesis

Site Statistics | Help

About eCommons | Policies | Terms of use | Contact Us

copyright © 2002-2026 Cornell University Library | Privacy | Web Accessibility Assistance