用于机器人群体最终用户编程的徒手草图绘制

中文摘要 AI 辅助

机器人群体越来越多地应用于需要与非专家用户进行无障碍交互的场景中。本文研究了徒手草图绘制作为一种最终用户编程界面，用于指定机器人群体的几何形状。用户通过绘图传达空间意图，而群体自主提取目标编队点、构建刚性编队图、将机器人分配到编队节点，并执行分布式编队控制，同时保证避免意外的反射编队。由此产生的从草图到群体的框架通过一项人类研究进行评估，该研究考察了徒手编队指定的可用性。二十名参与者生成了42个几何形状，该界面达到了平均系统可用性量表得分84.25，这通常表明感知可用性较高。结果支持徒手草图绘制作为人机群体协作的一种直观交互抽象，无需机器人学或编程专业知识。

英文摘要

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.

发表机构

• Samueli School of Engineering, University of California, Irvine（加州大学尔湾分校塞缪尔工程学院）
• University of North Carolina at Chapel Hill（北卡罗来纳大学教堂山分校）

机构由 AI 辅助整理，请以论文原文为准。