Methods and Metrics for Human Interaction with Bio-Inspired Robot Swarms

摘要

In this thesis we propose methods and metrics for human interaction with bio-inspired robot teams. We refine the concept of a stakeholder and demonstrate how a human can use stakeholders to lead a swarm as well as switch the swarm between different collective behaviors. We extend the human interaction metrics of interaction time and interaction effort presented in [1] to swarm systems and introduce the concept of interaction effort. These metrics allow us to understand how well the system performs under human influence. We employ systems theory to estimate these metrics, which is useful because this can be done without performing user studies.