In most cases, upgrading from a single-robot system to a multi-robot system comes with increases in system payload and task performance. On the other hand, many multi-robot systems in open environments still rely on teleoperation. Therefore, human performance can be the bottleneck in a teleoperated multi-robot system. Based on this idea, the multi-robot system's shared autonomy and control methods are emerging research areas in open environment robot operations. However, the question remains: how much does the bottleneck of the human agent impact the system performance in a multi-robot system? This research tries to explore the question through the performance comparison of teleoperating a single-robot system and a dual-robot system in a box-pushing task. This robot teleoperation experiment on human agents employs a web-based environment to simulate the robots' two-dimensional movement. The result provides evidence of the hardship for a single human when teleoperating with more than one robot, which indicates the necessity of shared autonomy in multi-robot systems.
翻译:在多数情况下,从单一机器人系统升级为多机器人系统伴随着系统有效载荷和任务性能的增加。另一方面,开放环境中的许多多机器人系统仍然依赖远程操作。因此,人类性能可以成为远程操作多机器人系统中的瓶颈。基于这一想法,多机器人系统共享的自主和控制方法是开放环境机器人操作中新出现的研究领域。然而,问题仍然是:在多机器人系统中,人类物剂的瓶颈对系统性能的影响有多大?这一研究试图通过对单机器人系统和双机器人系统的性能比较来探索这一问题。这种关于人类物剂的机器人远程操作实验利用基于网络的环境模拟机器人的二维运动。其结果证明,在与不止一个机器人进行远程操作时,一个人会面临困难,这表明在多机器人系统中必须共享自主权。