Problem
Research questions and friction points this paper is trying to address.
freehand sketching
end-user programming
robot swarms
non-expert users
Freehand Sketching for End-User Programming of Robot Swarms
🤖 AI Summary
研究通过自由手绘方法解决非专家用户与机器人集群交互的问题，使用户能直观指定集群几何形状，实现高效的人机协作。
📝 Abstract
Robot swarms are increasingly used in applications where accessible interaction with non-expert users is desirable. This paper investigates freehand sketching as an end-user programming interface for specifying robot swarm geometries. Users communicate spatial intent through a drawing, while the swarm autonomously extracts target formation points, constructs a rigid formation graph, assigns robots to formation nodes, and executes distributed formation control with a guarantee against unintended reflected formations. The resulting sketch-to-swarm framework is evaluated through a human study examining the usability of freehand formation specification. Twenty participants generated $42$ geometric shapes, and the interface achieved a mean System Usability Scale score of $84.25$, which conventionally indicates high perceived usability. The results support freehand sketching as an intuitive interaction abstraction for human-swarm collaboration without requiring robotics or programming expertise.
Innovation
Methods, ideas, or system contributions that make the work stand out.
freehand sketching
end-user programming
robot swarms
formation control
usability
🔎 Similar Papers
No similar papers found.
