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Interacting with Networks of Mobile Agents

  • Magnus EgerstedtEmail author
  • Jean-Pierre de la Croix
  • Hiroaki Kawashima
  • Peter Kingston
Part of the Modeling and Simulation in Science, Engineering and Technology book series (MSSET)

Abstract

How should human operators interact with teams of mobile agents, whose movements are dictated by decentralized and localized interaction laws? This chapter connects the structure of the underlying information exchange network to how easy or hard it is for human operators to influence the behavior of the team. “Influence” is understood both in terms of controllability, which is a point-to-point property, and manipulability, which is an instantaneous influence notion. These two notions both rely on the assumption that the user can exert control over select leader agents, and we contrast this with another approach whereby the agents are modeled as particles suspended in a fluid, which can be “stirred” by the operator. The theoretical developments are coupled with multirobot experiments and human user-studies to support the practical viability and feasibility of the proposed methods.

Keywords

Multi-agent robotics Networked control Human–robot interactions 

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Magnus Egerstedt
    • 1
    Email author
  • Jean-Pierre de la Croix
    • 1
  • Hiroaki Kawashima
    • 2
  • Peter Kingston
    • 1
  1. 1.School of Electrical and Computer EngineeringGeorgia Institute of TechnologyAtlantaUSA
  2. 2.Department of Intelligence Science and Technology, Graduate School of InformaticsKyoto UniversityKyotoJapan

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