Using Google Glass in Human–Robot Swarm Interaction

  • Gabriel Kapellmann-Zafra
  • Jianing Chen
  • Roderich Groß
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9716)


We study how a human operator can guide a swarm of robots when transporting a large object through an environment with obstacles. The operator controls a leader robot that influences the other robots of the swarm. Follower robots push the object only if they have no line of sight of the leader. The leader represents a way point that the object should reach. By changing its position over time, the operator effectively guides the transporting robots towards the final destination. The operator uses the Google Glass device to interact with the swarm. Communication can be achieved via either touch or voice commands and the support of a graphical user interface. Experimental results with 20 physical e-puck robots show that the human–robot interaction allows the swarm to transport the object through a complex environment.


Proximity Sensor Main Menu Voice Command Follower Robot Leader Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



The first author acknowledges scholarship support by CONACYT (Consejo Nacional de Ciencia y Tecnologia). The last author acknowledges support by a Marie Curie European Reintegration Grant within the 7-th European Community Framework Programme (grant no. PERG07-GA-2010-267354).


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Gabriel Kapellmann-Zafra
    • 1
  • Jianing Chen
    • 2
  • Roderich Groß
    • 1
  1. 1.Sheffield Robotics and Department of Automatic Control and Systems EngineeringThe University of SheffieldSheffieldUK
  2. 2.School of Electrical and Electronic EngineeringThe University of ManchesterManchesterUK

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