Voronoi multi-robot coverage control in non-convex environments with human interaction in virtual reality
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Universidade Federal de Minas Gerais
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This work presents the implementation of a robot coverage algorithm in non-convex environmentswith the interaction of the robot group with a human agent in a virtual reality (VR) environment. On the virtualreality application, the control of the group of robots is abstracted to simple commands, allowing the users tointeract with the swarm by creating and removing obstacles, creating density distribution functions and alteringthe speed of robots. Simulations were implemented using ROS and Unity and demonstrate that robots couldreact to the changes of the simulation environment imposed by the human agent.
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Robôs - Sistemas de controle, Robótica
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Human swarm interaction, multi-robot coverage, multi-robot systems, virtual reality, teleopera-tion, an application for coverage control of environments with the interaction of a human agent using a virtual reality headset. Users could then interact with the swarm by creating obstacles, changing the density distribution function (altering the concentration of robots), selecting robots to increase their speed and their power on the area and move freely on the area, either by walking around, teleporting or flying.
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https://www.sba.org.br/open_journal_systems/index.php/cba/article/view/546/508