Human Modeling and Passivity Analysis for Semi-Autonomous Multi-Robot Navigation in Three Dimensions
In this article, we study a one-human-multiple-robot interaction for human-enabled multi-robot navigation in three dimensions. We employ two fully distributed control architectures designed based on human passivity and human passivity shortage. The first half of this article focuses on human modelin...
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Open Journal of Control Systems |
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| Online Access: | https://ieeexplore.ieee.org/document/10361530/ |
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| author | Takeshi Hatanaka Takahiro Mochizuki Takumi Sumino Jose M. Maestre Nikhil Chopra |
| author_facet | Takeshi Hatanaka Takahiro Mochizuki Takumi Sumino Jose M. Maestre Nikhil Chopra |
| author_sort | Takeshi Hatanaka |
| collection | DOAJ |
| description | In this article, we study a one-human-multiple-robot interaction for human-enabled multi-robot navigation in three dimensions. We employ two fully distributed control architectures designed based on human passivity and human passivity shortage. The first half of this article focuses on human modeling and analysis for the passivity-based control architecture through human operation data on a 3-D human-in-the-loop simulator. Specifically, we compare virtual reality (VR) interfaces with a traditional interface, and examine the impacts that VR technology has on human properties in terms of model accuracy, performance, passivity and workload, demonstrating that VR interfaces have a positive effect on all aspects. In contrast to 1-D operation, we confirm that operators hardly attain passivity regardless of the network structure, even with the VR interfaces. We thus take the passivity-shortage-based control architecture and analyze the degree of passivity shortage. We then observe through user studies that operators tend to meet the degree of shortage needed to prove closed-loop stability. |
| format | Article |
| id | doaj-art-b8478433807840e78bfae4dba5be693f |
| institution | Kabale University |
| issn | 2694-085X |
| language | English |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Open Journal of Control Systems |
| spelling | doaj-art-b8478433807840e78bfae4dba5be693f2025-01-09T00:02:56ZengIEEEIEEE Open Journal of Control Systems2694-085X2024-01-013455710.1109/OJCSYS.2023.334359810361530Human Modeling and Passivity Analysis for Semi-Autonomous Multi-Robot Navigation in Three DimensionsTakeshi Hatanaka0https://orcid.org/0000-0003-3143-121XTakahiro Mochizuki1https://orcid.org/0009-0009-9576-4700Takumi Sumino2https://orcid.org/0009-0006-2382-9841Jose M. Maestre3https://orcid.org/0000-0002-4968-6811Nikhil Chopra4https://orcid.org/0000-0002-5365-293XSchool of Engineering, Tokyo Institute of Technology, Tokyo, JapanSchool of Engineering, Tokyo Institute of Technology, Tokyo, JapanSchool of Engineering, Tokyo Institute of Technology, Tokyo, JapanSystems and Automation Engineering Department, University of Seville, Sevilla, SpainDepartment of Mechanical Engineering, University of Maryland, College Park, MD, USAIn this article, we study a one-human-multiple-robot interaction for human-enabled multi-robot navigation in three dimensions. We employ two fully distributed control architectures designed based on human passivity and human passivity shortage. The first half of this article focuses on human modeling and analysis for the passivity-based control architecture through human operation data on a 3-D human-in-the-loop simulator. Specifically, we compare virtual reality (VR) interfaces with a traditional interface, and examine the impacts that VR technology has on human properties in terms of model accuracy, performance, passivity and workload, demonstrating that VR interfaces have a positive effect on all aspects. In contrast to 1-D operation, we confirm that operators hardly attain passivity regardless of the network structure, even with the VR interfaces. We thus take the passivity-shortage-based control architecture and analyze the degree of passivity shortage. We then observe through user studies that operators tend to meet the degree of shortage needed to prove closed-loop stability.https://ieeexplore.ieee.org/document/10361530/Distributed controlhuman–robot collaborationspassivitysemi-autonomous multi–robot navigationsystem identificationvirtual reality |
| spellingShingle | Takeshi Hatanaka Takahiro Mochizuki Takumi Sumino Jose M. Maestre Nikhil Chopra Human Modeling and Passivity Analysis for Semi-Autonomous Multi-Robot Navigation in Three Dimensions IEEE Open Journal of Control Systems Distributed control human–robot collaborations passivity semi-autonomous multi–robot navigation system identification virtual reality |
| title | Human Modeling and Passivity Analysis for Semi-Autonomous Multi-Robot Navigation in Three Dimensions |
| title_full | Human Modeling and Passivity Analysis for Semi-Autonomous Multi-Robot Navigation in Three Dimensions |
| title_fullStr | Human Modeling and Passivity Analysis for Semi-Autonomous Multi-Robot Navigation in Three Dimensions |
| title_full_unstemmed | Human Modeling and Passivity Analysis for Semi-Autonomous Multi-Robot Navigation in Three Dimensions |
| title_short | Human Modeling and Passivity Analysis for Semi-Autonomous Multi-Robot Navigation in Three Dimensions |
| title_sort | human modeling and passivity analysis for semi autonomous multi robot navigation in three dimensions |
| topic | Distributed control human–robot collaborations passivity semi-autonomous multi–robot navigation system identification virtual reality |
| url | https://ieeexplore.ieee.org/document/10361530/ |
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