Wisdom of the swarm for cooperative decision-making in human-swarm interaction

J. Nagi, H. Ngo, L. M. Gambardella, Gianni A. Di Caro
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
Human-swarm interaction (HSI) is a developing field of research in which the problem of gesture-based control has been attracting an increasing attention, being at the same time a natural form of interaction and an effective way to point and select individual or groups of robots in the swarm. Gesturebased interaction usually requires vision-based recognition and classification of the gesture from the swarm. At this aim, existing methods for cooperative sensing and recognition make use of
more » ... uted consensus algorithms, which include for instance averaging and frequency counting. In this work we present a distributed consensus protocol that allows robot swarms to learn efficiently gestures from online interactions with a human teacher. The protocol also facilitates the integration of different consensus algorithms. Experiments have been performed in emulation using on real data acquired by a swarm of robots. The results indicate that effectively exploiting the collective decision-making of the swarm is a viable way to rapidly achieve good learning performance. (*) These authors have equal contributions. All authors are with the Dalle
doi:10.1109/icra.2015.7139432 dblp:conf/icra/NagiNGC15 fatcat:6sjudwz6lzamtcf26qud66djli