On Passivity-Shortage of Human Operators for A Class of Semi-autonomous Robotic Swarms

Made Widhi Surya Atman, Kosei Noda, Riku Funada, Junya Yamauchi, Takeshi Hatanaka, Masayuki Fujita

研究成果: Article

抄録

This paper analyzes perceived workload and passivity-shortage of human operators for a class of semi-autonomous robotic swarms. First, we briefly introduce the passivity-short-based architecture presented in one of our previous works, which guarantees human-enabled motion synchronization to desired position/velocity references under the assumption that the human operator's thought process is a passivity-short system. It is observed that changes in parameter affects the visual feedback to the operator and also the complexity of the setups. Through user-studies using a human-in-the-loop simulator and questionnaires, we observe an increase in the perceived workload of the human operator for more complex setups. The result imposes the trade-off for less workload vs. clarity of the robotic swarms’ information to the human operator. Furthermore, through non-parametric system identification on data from user-studies, it is observed that all obtained models of the participants have the passivity-short property.

元の言語English
ページ(範囲)21-27
ページ数7
ジャーナルIFAC-PapersOnLine
51
発行部数34
DOI
出版物ステータスPublished - 2019 1 1
外部発表Yes

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Robotics
Identification (control systems)
Synchronization
Simulators
Feedback

ASJC Scopus subject areas

  • Control and Systems Engineering

これを引用

Surya Atman, M. W., Noda, K., Funada, R., Yamauchi, J., Hatanaka, T., & Fujita, M. (2019). On Passivity-Shortage of Human Operators for A Class of Semi-autonomous Robotic Swarms. IFAC-PapersOnLine, 51(34), 21-27. https://doi.org/10.1016/j.ifacol.2019.01.008

On Passivity-Shortage of Human Operators for A Class of Semi-autonomous Robotic Swarms. / Surya Atman, Made Widhi; Noda, Kosei; Funada, Riku; Yamauchi, Junya; Hatanaka, Takeshi; Fujita, Masayuki.

:: IFAC-PapersOnLine, 巻 51, 番号 34, 01.01.2019, p. 21-27.

研究成果: Article

Surya Atman, MW, Noda, K, Funada, R, Yamauchi, J, Hatanaka, T & Fujita, M 2019, 'On Passivity-Shortage of Human Operators for A Class of Semi-autonomous Robotic Swarms', IFAC-PapersOnLine, 巻. 51, 番号 34, pp. 21-27. https://doi.org/10.1016/j.ifacol.2019.01.008
Surya Atman, Made Widhi ; Noda, Kosei ; Funada, Riku ; Yamauchi, Junya ; Hatanaka, Takeshi ; Fujita, Masayuki. / On Passivity-Shortage of Human Operators for A Class of Semi-autonomous Robotic Swarms. :: IFAC-PapersOnLine. 2019 ; 巻 51, 番号 34. pp. 21-27.
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