与多机器人系统的直观与高效互动 Intuitive and Effective Interaction with Multi-Robot Systems .docx

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与多机器人系统的直观与高效互动 Intuitive and Effective Interaction with Multi-Robot Systems .docx

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2024

FlorianKennel-Maushart

INTUITIVEANDEFFECTIVEINTERACTIONWITHMULTI-ROBOTSYSTEMS

DISS.ETHNO.30570

ComputationalRoboticsLab

DepartmentofComputerScienceETHZürich

8092Switzerland

CoverillustrationbyBeatReichenbach.

?2024FlorianKennel-Maushart:IntuitiveandEffectiveInteractionwithMulti-RobotSystems.Allrightsreserved.

2024

diss.ethno.30570

INTUITIVEANDEFFECTIVEINTERACTIONWITHMULTI-ROBOTSYSTEMS

Athesissubmittedtoattainthedegreeof

doctorofsciences(Dr.sc.ETHZurich)

presentedby

floriankennel-maushart

MScinMicroengineering,écolePolytechniqueFédéraledeLausannebornon11September1991

acceptedontherecommendationof

Prof.Dr.StelianCoros,examiner

Prof.Dr.MarcPollefeys,co-examinerProf.Dr.AmandaProrok,co-examiner

ABSTRACT

iii

Manytasksinoureverydaylivesrequireustointeractwithothers.In-

teraction,orcollaboration,allowsustocombineourstrengthsandenablesustoachievemorethanwhatanindividualcouldachieveontheirown.Similarly,whentryingtoautomatesuchtasks,itmightbeimpossibleorprohibitivelyexpensivetojustemployonesinglerobot.Butcoordinatingmultiplerobotsisdifficult:Fromthecomputationalchallengesofthelargestate-spaceofamulti-robotsystemtothequestionofhowhumaninputfromoneoperatorcanbemappedtomultiplerobots,therearemultiplelevelstoaninteractionthatmightbesubtlewheninteractingwithhumans,butneedtobeexplicitlyaddressedwhenworkingwithrobots.

Thegoalofthisthesisistotacklesomeofthemostpertinentoftheseprob-lems.Wefirsttakealookatsomechallengesrelatedtodirectteleoperationofsingleandmulti-robotsystems.Usingmanipulabilityoptimizationandanullspaceprojectionscheme,weimprovetheabilityofmulti-armsystemstoavoidsingularitiesandfollowoperatorinputmoreswiftly.Wepresentafast,localoptimizationschemeaswellasasecond-orderoptimizationusin