Towards human control of robot swarms

In this paper we investigate principles of swarm control that enable a human operator to exert influence on and control large swarms of robots. We present two principles, coined selection and beacon control, that differ with respect to their temporal and spatial persistence. The former requires active selection of groups of robots while the latter exerts a passive influence on nearby robots. Both principles are implemented in a testbed in which operators exert influence on a robot swarm by switching between a set of behaviors ranging from trivial behaviors up to distributed autonomous algorithms. Performance is tested in a series of complex foraging tasks in environments with different obstacles ranging from open to cluttered and structured. The robotic swarm has only local communication and sensing capabilities with the number of robots ranging from 50 to 200. Experiments with human operators utilizing either selection or beacon control are compared with each other and to a simple autonomous swarm with regard to performance, adaptation to complex environments, and scalability to larger swarms. Our results show superior performance of autonomous swarms in open environments, of selection control in complex environments, and indicate a potential for scaling beacon control to larger swarms

Connectivity Differences between Human Operators of Swarms and Bandwidth Limitations

Human interaction with robot swarms (HSI) is a young field with very few user studies that explore operator behavior. All these studies assume perfect communication between the operator and the swarm. A key challenge in the use of swarm robotic systems in human supervised tasks is to understand human swarm interaction in the presence of limited communication bandwidth, which is a constraint arising in many practical scenarios. In this paper, we present results of human-subject experiments designed to study the effect of bandwidth limitations in human swarm interaction. We consider three levels of bandwidth availability in a swarm foraging task. The lowest bandwidth condition performs poorly, but the medium and high bandwidth condition both perform well. In the medium bandwidth condition, we display useful aggregated swarm information (like swarm centroid and spread) to compress the swarm state information. We also observe interesting operator behavior and adaptation of operators' swarm reaction

Neglect Benevolence in Human-Swarm Interaction with Communication Latency

In practical applications of robot swarms with bio-inspired behaviors, a human operator will need to exert control over the swarm to fulfill the mission objectives. In many operational settings, human operators are remotely located and the communication environment is harsh. Hence, there exists some latency in information (or control command) transfer between the human and the swarm. In this paper, we conduct experiments of human-swarm interaction to investigate the effects of communication latency on the performance of a human-swarm system in a swarm foraging task. We develop and investigate the concept of neglect benevolence, where a human operator allows the swarm to evolve on its own and stabilize before giving new commands. Our experimental results indicate that operators exploited neglect benevolence in different ways to develop successful strategies in the foraging task. Furthermore, we show experimentally that the use of a predictive display can help mitigate the adverse effects of communication latency

Using Coverage for Measuring the Effect of Haptic Feedback in Human Robotic Swarm Interaction

A robotic swarm is a decentralized group of robots which overcome failure of individual robots with robust emergent behaviors based on local interactions. These behaviors are not well built for accomplishing complex tasks, however, because of the changing assumptions required in various applications and environments. A new movement in the research field is to add human input to influence the swarm in order to help make the robots goal directed and overcome these problems. This research in Human Swarm Interaction (HSI) focuses on different control laws and ways to integrate the human intent with local control laws of the robots. Previous studies have all used visual feedback through a computer interface to give the user the swarm state information. This study adapted swarm control algorithms to give the operator hap tic feedback as well as visual feedback. The study shows the benefits of the additional feedback in a target searching class. Researchers in multi-robot systems have shown benefits of hap tic feedback in obstacle navigation before, but this study is a novel method because of the decentralized formation of the robotic swarm. In most environments, operators were able to cover significantly more area, increasing the chance of finding more targets. The other environment found no significant difference, showing that the hap tic feedback does not degrade performance in any of the tested environments. This supports our hypothesis that hap tic feedback is useful in HSI and requires further research to maximize its potential

Using haptic feedback in human swarm interaction

A swarm of robots is a large group of individual agents that autonomously coordinate via local control laws. Their emergent behavior allows simple robots to accomplish complex tasks. Since missions may have complex objectives that change dynamically due to environmental and mission changes, human control and influence over the swarm is needed. The field of Human Swarm Interaction (HSI) is young, with few user studies, and even fewer papers focusing on giving non-visual feedback to the operator. The authors will herein present a background of haptics in robotics and swarms and two studies that explore various conditions under which haptic feedback may be useful in HSI. The overall goal of the studies is to explore the effectiveness of haptic feedback in the presence of other visual stimuli about the swarm system. The findings show that giving feedback about nearby obstacles using a haptic device can improve performance, and that a combination of feedback from obstacle forces via the visual and haptic channels provide the best performance

Robotic swarm connectivity with human operation and bandwidth limitations

Human interaction with robot swarms (HSI) is a young field with very few user studies that explore operator behavior. All these studies assume perfect communication between the operator and the swarm. A key challenge in the use of swarm robotic systems in human supervised tasks is to understand human swarm interaction in the presence of limited communication bandwidth, which is a constraint arising in many practical scenarios. In this paper, we present results of human-subject experiments designed to study the effect of bandwidth limitations in human swarm interaction. We consider three levels of bandwidth availability in a swarm foraging task. The lowest bandwidth condition performs poorly, but the medium and high bandwidth condition both perform well. In the medium bandwidth condition, we display useful aggregated swarm information (like swarm centroid and spread) to compress the swarm state information. We also observe interesting operator behavior and adaptation of operators' swarm reaction

Investigating neglect benevolence and communication latency during human-swarm interaction

In practical applications of robot swarms with bioinspired behaviors, a human operator will need to exert control over the swarm to fulfill the mission objectives. In many operational settings, human operators are remotely located and the communication environment is harsh. Hence, there exists some latency in information (or control command) transfer between the human and the swarm. In this paper, we conduct experiments of human-swarm interaction to investigate the effects of communication latency on the performance of a humanswarm system in a swarm foraging task.We develop and investigate the concept of neglect benevolence, where a human operator allows the swarm to evolve on its own and stabilize before giving new commands. Our experimental results indicate that operators exploited neglect benevolence in different ways to develop successful strategies in the foraging task. Furthermore, we show experimentally that the use of a predictive display can help mitigate the adverse effects of communication latency

Financing Direct Democracy: Revisiting the Research on Campaign Spending and Citizen Initiatives

The conventional view in the direct democracy literature is that spending against a measure is more effective than spending in favor of a measure, but the empirical results underlying this conclusion have been questioned by recent research. We argue that the conventional finding is driven by the endogenous nature of campaign spending: initiative proponents spend more when their ballot measure is likely to fail. We address this endogeneity by using an instrumental variables approach to analyze a comprehensive dataset of ballot propositions in California from 1976 to 2004. We find that both support and opposition spending on citizen initiatives have strong, statistically significant, and countervailing effects. We confirm this finding by looking at time series data from early polling on a subset of these measures. Both analyses show that spending in favor of citizen initiatives substantially increases their chances of passage, just as opposition spending decreases this likelihood

Preliminary psychometric properties of the Acceptance and Action Questionnaire – II: A revised measure of psychological flexibility and acceptance.

The present research describes the development and psychometric evaluation of a second version of the Acceptance and Action Questionnaire (AAQ-II), which assesses the construct referred to as, variously, acceptance, experiential avoidance and psychological inflexibility. Results from 2,816 participants across six samples indicate the satisfactory structure, reliability, and validity of this measure. For example, the mean alpha coefficient is .84 (.78 - .88), and the 3- and 12-month test-retest reliability is .81 and .79, respectively. Results indicate that AAQ-II scores concurrently, longitudinally, and incrementally predict a range of outcomes, from mental health to work absence rates,that are consistent with its underlying theory. The AAQ-II also demonstrates appropriate discriminant validity. The AAQ-II appears to measure the same concept as the AAQ-I (r = .97), but with better psychometric consistency

The Role of Individual Variables, Organizational Variables and Moral Intensity Dimensions in Libyan Management Accountants’ Ethical Decision Making

This study investigates the association of a broad set of variables with the ethical decision making of management accountants in Libya. Adopting a cross-sectional methodology, a questionnaire including four different ethical scenarios was used to gather data from 229 participants. For each scenario, ethical decision making was examined in terms of the recognition, judgment and intention stages of Rest’s model. A significant relationship was found between ethical recognition and ethical judgment and also between ethical judgment and ethical intention, but ethical recognition did not significantly predict ethical intention—thus providing support for Rest’s model. Organizational variables, age and educational level yielded few significant results. The lack of significance for codes of ethics might reflect their relative lack of development in Libya, in which case Libyan companies should pay attention to their content and how they are supported, especially in the light of the under-development of the accounting profession in Libya. Few significant results were also found for gender, but where they were found, males showed more ethical characteristics than females. This unusual result reinforces the dangers of gender stereotyping in business. Personal moral philosophy and moral intensity dimensions were generally found to be significant predictors of the three stages of ethical decision making studied. One implication of this is to give more attention to ethics in accounting education, making the connections between accounting practice and (in Libya) Islam. Overall, this study not only adds to the available empirical evidence on factors affecting ethical decision making, notably examining three stages of Rest’s model, but also offers rare insights into the ethical views of practising management accountants and provides a benchmark for future studies of ethical decision making in Muslim majority countries and other parts of the developing world