人类引导的群体：虚拟现实环境中基于阻抗控制启发的影响机制
Human-guided Swarms: Impedance Control-inspired Influence in Virtual Reality Environments
AI总结：
本文提出一种基于阻抗控制启发的影响机制，在VR环境中实现人类监督者引导大规模无人机群体穿越狭窄峡谷，兼顾任务完成与保持群体涌现行为。
摘要：
先前在人机交互（HSI）领域的研究试图引导群体行为以达到既定目标，但可能无法处理需要更精细的人类监督、可变自主性或应用于大规模群体的特定场景。本文提出了一种方法，使人类监督者能够调整群体控制水平，并利用一种不会显著限制涌现群体行为的辅助控制机制来引导大规模群体。我们在虚拟现实（VR）环境中开发了该方法，使用HTC Vive和带有AirSim插件的Unreal Engine 4。阻抗控制启发的影响机制与VR测试平台的创新结合，使得能够快速设计和测试迭代，以检查群体行为与宏观尺度人类影响之间的权衡，同时规避了电池供电的小型无人机系统（sUAS）的飞行时长限制。该阻抗控制启发机制由一名人类监督者测试，用于引导由16个sUAS智能体组成的虚拟群体。每次测试都涉及将群体的质心移动通过狭窄的峡谷，这些峡谷对于群体自主穿越是不可行的。结果表明，集成该影响机制使得能够成功操纵群体的宏观行为以完成任务，同时保持了固有的群体行为。
英文摘要：
Prior works in human-swarm interaction (HSI) have sought to guide swarm behavior towards established objectives, but may be unable to handle specific scenarios that require finer human supervision, variable autonomy, or application to large-scale swarms. In this paper, we present an approach that enables human supervisors to tune the level of swarm control, and guide a large swarm using an assistive control mechanism that does not significantly restrict emergent swarm behaviors. We develop this approach in a virtual reality (VR) environment, using the HTC Vive and Unreal Engine 4 with AirSim plugin. The novel combination of an impedance control-inspired influence mechanism and a VR test bed enables and facilitates the rapid design and test iterations to examine trade-offs between swarming behavior and macroscopic-scale human influence, while circumventing flight duration limitations associated with battery-powered small unmanned aerial system (sUAS) systems. The impedance control-inspired mechanism was tested by a human supervisor to guide a virtual swarm consisting of 16 sUAS agents. Each test involved moving the swarm's center of mass through narrow canyons, which were not feasible for a swarm to traverse autonomously. Results demonstrate that integration of the influence mechanism enabled the successful manipulation of the macro-scale behavior of the swarm towards task completion, while maintaining the innate swarming behavior.
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