Scheduling and Path-Planning for Operator Oversight of Multiple Robots

People

Sebastian A. Zanlongo, Peter Dirksmeier, Philip Long, Franklin Abodo, Taskin Padir, and Leonardo Bobadilla

Abstract

There is a need for semi-autonomous systems capable of performing both automated tasks and supervised maneuvers. When dealing with multiple robots or robots with high complexity (such as humanoids), we face the issue of effectively coordinating multiple operators across robots. We build on our previous work to present a methodology for designing trajectories and policies for robots such that few operators can supervise multiple robots. Specifically, we: 1) Analyze of the complexity of the problem, 2) Provide a methodology for designing policies so that operators can oversee many robots, 3) Present a method for designing policies and robot trajectories to permit operators to oversee multiple robots, and 4) Include simulation and hardware experiments demonstrating our methodologies.

Details

The below videos demonstrate, using a physical environment and a virtual simulator, how robots can be rescheduled so an operator can oversee robots, without spliting their attention across multiple critical activites.

Physical Demonstration

Software Simulation

Hardware Experiment


Valkyrie Example Cases

Initial trajectory with two attention zones

Rescheduled and re-planned trajectory with two attention zones

Initial trajectory with three attention zones

Rescheduled and re-planned trajectory with three attention zones

Simulation Demonstration

Two Robots with Critical Sections

Two Robots with Multiple Critical Sections

Three Robots with Two Critical Sections

Three Robots with Multiple Critical Sections