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Multi-Human-Swarm-Control

Description: Robot controller (C++) and user interface (javascript) for two operators to interact with a swarm of e-pucks in ARGoS simulation.

  • Primary Functionality: Framework for two operators to interact with a swarm of robots.
  • Target: C++-based robot
  • Task: T4.3
  • Responsible: Genki Miyauchi

Webviz Interface

Overview

This repository contains the swarm robot controllers and user interface for two users to interact with a swarm of simulated e-puck robots in ARGoS.

ARGoS is used to simulate a swarm of e-puck robots. We use a customized version of Webviz, which is a web interface plugin for ARGoS. This allows multiple users to interact with the same simulation from different devices.

A pair of users can individually access the Webviz interface and work together to use the robot swarm to score points by performing simulated tasks. The user is presented with a first-person perspective view of the simulation environment and are able navigate the environment and send task-related signals to nearby robots.

System Design

Published Paper

The Multi-Human-Swarm-Control system was used in a user study presented at IROS 2023 (link to paper).

Sharing the Control of Robot Swarms Among Multiple Human Operators: A User Study
Genki Miyauchi, Yuri K Lopes, and Roderich Groß
In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

Presentation Video

MHSC IROS2023 Video

Installation

Installation instructions and usage can be found in the openswarm-eu/multi-human-swarm-control repository.