ETD

Archivio digitale delle tesi discusse presso l'Università di Pisa

Tesi etd-05222013-203122


Tipo di tesi
Tesi di laurea magistrale
Autore
DIANA, MATTEO
Indirizzo email
mr.matteo.diana@gmail.com
URN
etd-05222013-203122
Titolo
Deformable-Medium Affordances for Interacting with Multi-Robot Systems
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Pallottino, Lucia
relatore Prof. Egerstedt, Magnus
controrelatore Prof. Caiti, Andrea
Parole chiave
  • multi-robot control
  • affordances
  • swarm robotics
  • multi-agent
Data inizio appello
14/06/2013
Consultabilità
Completa
Riassunto
In this thesis, I address the issue of human-swarm interactions by proposing a new set of
affrodances that make a multi-robot system amenable to human control. An affordance,
as defined by Gibson, is a relation between an object and a user, where the object
explicitly allows the user to perform a particular action. The affordances we identify when
controlling a swarm, include stretching the swarm, molding it into a particular shape, splitting
and merging sub-swarms, and mixing of different swarms. The contribution beyond
the formulation of these affordances is the coupling of an image recognition framework
identified by an effective deformable-medium control interface, and the accompanying algorithms
needed to identify the appropriate inputs, and then turn those into decentralized
control laws for the individual robots. As result, the developed human-swarm interaction
methodology is applied to a team of mobile robots.
File