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Speaking Swarmish Physical Human-Robot Interface Design for Large Swarms of Autonomous Mobile Robots James McLurkin 1 , Jennifer Smith 2 , James Frankel 3 , David Sotkowitz 4 , David Blau 5 , Brian Schmidt 6 1, 5, 6 2, 3, 4 James McLurkin

  1. Speaking Swarmish Physical ∧ Human-Robot Interface Design for Large Swarms of Autonomous Mobile Robots James McLurkin 1 , Jennifer Smith 2 , James Frankel 3 , David Sotkowitz 4 , David Blau 5 , Brian Schmidt 6 1, 5, 6 2, 3, 4 James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  2. My Position • My Axe: As a community, we don’t spend enough time working on (or give enough respect to) user and development interfaces for robotic systems • As the field matures, popular interfaces will inevitability arise. We can either design thoughtful interfaces (good) or let them arise spontaneously (bad) • This work describes a set of simple user interfaces that use Physical I/O to interface an unaided user to large* groups of robots • Oooo! A new Acronym: HMRI = H uman M ulti- R obot I nterface Now, we’re ready to get some work done! *Large ≈ 100. Your definition may vary. James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  3. The HMRI Problem • Requirements ๐ Get information to all the robots (programs, commands) ๐ Get information about what all the robots are doing (internal state) ๐ Get information from all the robots (mission sensors) • Some Terms: ๐ Virtual I/O: Interface with robots through computer ๐ Physical I/O: Interface with robots directly ๐ Development Interface: Interface for developers ๐ User Interface: Interface for users James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  4. Related Work StarCraft, Blizzard Entertainment, 1999 Kismet, Breazeal et. al., 1998-200X Collett and MacDonald, 2006, “Developer Daily, Cho, Martin, Oriented Visualisation of a Payton, 2002 “World Embedded Interfaces” Robot Program” James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  5. HRI Design Space James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  6. This Work • Physical Infrastructure for hands-free operation • Centralized Control Software for development, debugging and operation • Physical I/O for in situ interaction ๐ in situ = Allow the user to watch the robots while reading telemetry about individual and group behaviors ๐ Displays on robots are useless on multi-robot systems ๐ The Human perceptual system can process a vast amount of multi-modal real-time data ๐ Allow the trained, but unaided user to “read” the swarm James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  7. Physical Infrastructure for HMRI • Problem: The robots outnumber the humans ๐ Anything you have to do to one robot, you have to do to all of them. This does not scale well. • Solution: Hands-Free Design ๐ The SwarmBot has dedicated hardware for the physical user interface ๐ Basic Swarm-level tasks must be hands-free: Remote Power On/Off Autonomous Charging Remote Programming Efficient Transportation Software for Centralized Command, Control, and Data Collection James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  8. SwarmBot Hardware Behavior LEDs Radio Charging Contacts Camera IR Inter-Robot Communications 1.1 Watt Audio System Bump Skirt orange = for physical UI grey = for autonomous operation James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  9. The Swarm “Extrastructure” James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  10. Docking James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  11. Long-Range Navigation James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  12. Very Long-Range Navigation James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  13. Remote Downloading System • [diagram of remote downloading procedure goes here] (waive hands furiously) • Status tones are separated by 25ms, and are still clear and easy to disambiguate James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  14. SwarmCraft GUI • Virtual I/O: Real-Time data collection and visualization • Necessary, but not sufficient James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  15. SwarmCraft GUI James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  16. SwarmCraft GUI James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  17. Group Exercise: Conversational Swarmish Three different color lights: red , green , blue + Two blinking patterns: sine and square + Many frequencies . = 108 patterns than can each be read in ≤ 500ms James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  18. Clumping James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  19. Orientation James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  20. Navigation James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  21. Dispersing James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  22. Dispersion James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  23. BubbleLine James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  24. BubbleLine: Flip James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  25. DTA: Extreme Comms-Line James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  26. DTA: Extreme Comms James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  27. DTA: Card Dealers (Clumping) James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  28. DTA: Tree-Recolor James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  29. Application: “Directed Dispersion” • FrontierBot • WallBot • InteriorBot • ChargingBot • GuideBot James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  30. Directed Dispersion: Big Room Explore • Blue=Frontiers Red=Interior Green=Charging White=Guides James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  31. Directed Dispersion: Big Room Return James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  32. Directed Dispersion: Complex Rooms James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  33. Limitations of Swarmish • Have not found a good way to represent continuous quantities • Current lexicon has about 108 usable patterns • Sounds need to be carefully designed to work together ⇒ lots of trial and error James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  34. Future Work • Careful analysis of the human perceptual system and its bandwidth limitations • How to optimally leverage multi-modal input ๐ Rich non-speech and non-text interfaces • Simple Augmented Reality Devices ๐ Hand-held tools to query robots: Tricoder-like device James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

  35. Conclusion HMRI ⇒ Usability ⇒ Efficiency ⇒ ((Debug Cycles)/Second)++ ⇒ ((Ideas Tested)/Second)++ ⇒ (Software Quality)++ ⇒ (Publications/Second)++ Questions? James McLurkin AAAI Spring Symposium 2006 Speaking Swarmish

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