增强现实支持群体监测:评估视觉线索以防止碎片化。

IF 6.5
Aymeric Henard, Etienne Peillard, Jeremy Riviere, Sebastien Kubicki, Gilles Coppin
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引用次数: 0

摘要

蜂群分裂,即机器人之间沟通和协调的中断,会严重影响蜂群的任务。将增强现实支持集成到群体监测中,特别是通过直接锚置在机器人上的协同定位可视化,可能使人类操作员能够检测到碎片的早期迹象,并有效地进行干预。在这项工作中,我们提出了三个局部视觉线索-瞄准机器人连接,主导决策影响和运动方向-以明确每个机器人的潜在感知-决策-行动(PDA)循环。通过一项沉浸式虚拟现实用户研究,51名参与者的任务是预测潜在的分裂,并选择适当的控制来防止它,同时观察群体表现出扩张、致密、群集和群体行为。我们的研究结果表明,强调机器人间连通性的可视化显著提高了对碎片的预期,尽管在基线条件下,没有任何线索能够始终增强控制选择。这些发现强调了共定位ar增强视觉反馈的潜力,以支持人类群体互动,并为未来基于ar的机器人群体监控系统的设计提供信息。本文和所有补充材料的免费副本可在https://osf.io/49gny上获得。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Towards Augmented Reality Support for Swarm Monitoring: Evaluating Visual Cues to Prevent Fragmentation.

Swarm fragmentation, the breakdown of communication and coordination among robots, can critically compromise a swarm's mission. Integrating Augmented Reality support into swarm monitoring-especially through co-located visualisations anchored directly on the robots- may enable human operators to detect early signs of fragmentation and intervene effectively. In this work, we propose three localised visual cues-targeting robot connectivity, dominant decision influences, and movement direction-to make explicit the underlying Perception-Decision-Action (PDA) loop of each robot. Through an immersive Virtual Reality user study, 51 participants were tasked with both anticipating potential fragmentation and selecting the appropriate control to prevent it, while observing swarms exhibiting expansion, densification, flocking, and swarming behaviours. Our results reveal that a visualisation emphasising inter-robot connectivity significantly improves anticipation of fragmentation, though none of the cues consistently enhance control selection over a baseline condition. These findings underscore the potential of co-located AR-enhanced visual feedback to support human-swarm interaction and inform the design of future AR-based supervisory systems for robot swarms. A free copy of this paper and all supplemental materials are available at https://osf.io/49gny.

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