Haptic interactions with multi-robot swarms using manipulability

@inproceedings{Setter2015HapticIW,
  title={Haptic interactions with multi-robot swarms using manipulability},
  author={Tina Setter and Alex Fouraker and Magnus Egerstedt and Hiroaki Kawashima},
  booktitle={HRI 2015},
  year={2015}
}
This paper investigates how haptic interactions can be defined for enabling a single operator to control and interact with a team of mobile robots. Since there is no unique or canonical mapping from the swarm configuration to the forces experienced by the operator, a suitable mapping must be developed. To this end, multi-agent manipulability is proposed as a potentially useful mapping, whereby the forces experienced by the operator relate to how inputs, injected at precise locations in the team… CONTINUE READING

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