Show simple item record

dc.contributor.authorde la Croix, Jean-Pierre
dc.contributor.authorEgerstedt, Magnus B.
dc.date.accessioned2016-09-14T16:34:57Z
dc.date.available2016-09-14T16:34:57Z
dc.date.issued2015-09
dc.identifier.citationde la Croix, J. P. and Egerstedt. M. B. (2015). Analyzing Human-Swarm Interactions Using Control Lyapunov Functions and Optimal Control. Networks and Heterogeneous Media, Vol. 10, no. 3, pp. 609-630, September 2015.en_US
dc.identifier.issn1556-1801 (Print)
dc.identifier.issn1556-181X Online
dc.identifier.urihttp://hdl.handle.net/1853/55817
dc.description© American Institute of Mathematical Scienceen_US
dc.descriptionDOI: 10.3934/nhm.2015.10.609en_US
dc.description.abstractA number of different interaction modalities have been proposed for human engagement with networked systems. In this paper, we establish formal guarantees for whether or not a given such human-swarm interaction (HSI) strategy is appropriate for achieving particular multi-robot tasks, such as guiding a swarm of robots into a particular geometric configuration. In doing so, we define what it means to impose an HSI control structure on a multi-robot system. Control Lyapunov functions are used to establish feasibility for a user to achieve a particular geometric configuration with a multi-robot system under some selected HSI control structure. Several examples of multi-robot systems with unique HSI control structures are provided to illustrated the use of CLFs to establish feasibility. Additionally, we also uses these examples to illustrate how to use optimal control tools to compute three metrics for evaluating an HSI control structure: attention, effort, and scalability.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectControl theoryen_US
dc.subjectHuman-swarm interactionsen_US
dc.subjectNetworked systemsen_US
dc.titleAnalyzing Human-Swarm Interactions Using Control Lyapunov Functions and Optimal Control.en_US
dc.typeArticleen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.publisher.originalAmerican Institute of Mathematical Sciences
dc.identifier.doi10.3934/nhm.2015.10.609en_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record