论文标题
部分可观测时空混沌系统的无模型预测
Web-based Experiment on Human Performance in Dual-Robot Teleoperation
论文作者
论文摘要
在大多数情况下，从单机器人系统升级到多机器人系统的升级是系统有效负载和任务性能的增加。另一方面，许多开放环境中的许多多机器人系统仍然依赖远程运行。因此，人类的性能可以成为远程手工多机器人系统中的瓶颈。基于这个想法，多机器人系统的共享自主权和控制方法是开放环境机器人操作中新兴的研究领域。但是，问题仍然存在：人类剂的瓶颈影响了多机器人系统中的系统性能？这项研究试图通过在盒装任务中进行单手系统和双机器人系统的性能比较来探索这个问题。该机器人对人类代理商的Telepoperation实验采用了基于网络的环境来模拟机器人的二维运动。结果为单个人的苦难提供了用多个机器人进行艰难的证据，这表明有必要在多机器人系统中共享自主权。
In most cases, upgrading from a single-robot system to a multi-robot system comes with increases in system payload and task performance. On the other hand, many multi-robot systems in open environments still rely on teleoperation. Therefore, human performance can be the bottleneck in a teleoperated multi-robot system. Based on this idea, the multi-robot system's shared autonomy and control methods are emerging research areas in open environment robot operations. However, the question remains: how much does the bottleneck of the human agent impact the system performance in a multi-robot system? This research tries to explore the question through the performance comparison of teleoperating a single-robot system and a dual-robot system in a box-pushing task. This robot teleoperation experiment on human agents employs a web-based environment to simulate the robots' two-dimensional movement. The result provides evidence of the hardship for a single human when teleoperating with more than one robot, which indicates the necessity of shared autonomy in multi-robot systems.
