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Autonomous Robots
Published in: Autonomous Robots 8/2018

27-04-2018

Online planning for human–multi-robot interactive theatrical performance

Authors: Ellen A. Cappo, Arjav Desai, Matthew Collins, Nathan Michael

Published in: Autonomous Robots | Issue 8/2018

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Abstract

We propose and evaluate a multi-robot system designed to enable live, improvisational theatric performance through online interaction between a performer and a robot system. The proposed system translates theatric performer intent into dynamically feasible trajectories for multi-robot ensembles without requiring prior knowledge of the ordering or timing of the desired robot motions. We allow a user to issue detailed instructions composed of desired motion descriptors in an online setting to specify the motion of varying collectives of robots via a centralized system planner. The centralized planner refines user motion specifications into safe and dynamically feasible trajectories thereby reducing the cognitive burden placed on the performer. We evaluate the system on a team of aerial robots (quadrotors), and show through offline simulation and online performance that the proposed system formulation translates online input into non-colliding dynamically feasible trajectories enabling a fleet of fifteen quadrotors to perform a series of coordinated behaviors in response to improvised direction from a human operator.
previous article Multi robot collision avoidance in a shared workspace
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Appendix
Available only for authorised users
Footnotes
1
In practice, \(t_s\) is set to a value slightly ahead of the instruction receipt time to account for planning computation time, allowing robots to transition between trajectories without discontinuities.
 
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Metadata
Title
Online planning for human–multi-robot interactive theatrical performance
Authors
Ellen A. Cappo
Arjav Desai
Matthew Collins
Nathan Michael
Publication date
27-04-2018
Publisher
Springer US
Published in
Autonomous Robots / Issue 8/2018
Print ISSN: 0929-5593
Electronic ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-018-9755-0

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EditorialNotes

Guest editorial: Special issue on distributed robotics—from fundamentals to applications