REU Site: Undergraduate Robotics Research in Human-Swarm Interaction

REU 网站：人-群交互中的本科生机器人学研究

• 批准号: 1851815
• 负责人: Yu Gu
• 金额: $ 28.73万
• 依托单位: West Virginia University Research Corporation
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-03-01 至 2023-02-28
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1851815&HistoricalAwards=false
• 关键词: REU; Site; Undergraduate; Robotics; Research

This Research Experiences for Undergraduates (REU) Site at West Virginia University (WVU) will allow eight undergraduate students each year, mostly from the Appalachian region, to perform state-of-the-art robotics research. Through challenging them with real-world problems, this project will provide training, mentorship and support to undergraduate students so that they can become independent researchers. The overall project management strategy will follow the spirit of swarm intelligence: encouraging the frequent interactions among a diverse group of undergraduate students to achieve something that might not otherwise be achievable by the individuals alone - for example, advancing the state-of-the-art in human-swarm interaction research). Throughout the project, the faculty and graduate student mentors will encourage creative thinking and frequent interactions to enhance the students' problem solving skills. This will allow them to transition from passive learners to independent thinkers of the future. This effort in turn will contribute to the growth of a high-quality and diverse US scientific workforce in the important area of robotics.The intellectual focus of this project is to allow one human operator to effectively manage a large robot swarm to achieve desired global objectives. Tailored around a swarm system inspired by the cooperative thermal soaring and foraging behaviors of hawks, three sub-projects will be conducted by undergraduate students during this REU project. First, a swarm testing environment with 50 custom designed robots will be developed. Second, distributed, non-hierarchical agent-level interaction rules that will allow the emergence of desirable robot swarm behaviors will be investigated. Third, novel human-swarm interaction modes for managing a large self-organized robot swarm without using a direct command and control structure between the operator and robots will be invented and experimentally demonstrated. Through these efforts, the undergraduate students will have the opportunity to work as a team in performing both fundamental research and hands-on experiments. The successful completion of the project will enable many potential robot applications such as search and rescue, environmental monitoring, and robotic mining and construction. The outcomes from this project will be broadly disseminated through demonstration videos, peer-reviewed publications, and open sharing of the developed software. This project is jointly funded by the Information and Intelligent Systems Division of the Computer and Information Science and Engineering Directorate and the Established Program to Stimulate Competitive Research (EPSCoR).This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

西弗吉尼亚大学（WVU）的本科生研究经验（REU）网站每年将允许8名本科生，主要来自阿巴拉契亚地区，进行最先进的机器人研究。通过挑战他们与现实世界的问题，该项目将提供培训，指导和支持本科生，使他们能够成为独立的研究人员。整个项目管理策略将遵循群体智能的精神：鼓励不同的本科生群体之间的频繁互动，以实现一些可能无法单独实现的目标-例如，推进人类群体互动研究的最新发展。在整个项目中，教师和研究生导师将鼓励创造性思维和频繁的互动，以提高学生解决问题的能力。这将使他们从被动的学习者过渡到未来的独立思考者。这一努力反过来将有助于在机器人这一重要领域培养高素质和多样化的美国科学工作者。该项目的智力重点是让一名人类操作员有效地管理一个大型机器人群，以实现预期的全球目标。在这个REU项目中，本科生将围绕一个受鹰的合作热翱翔和觅食行为启发的群体系统进行三个子项目。首先，将开发具有50个定制设计机器人的群测试环境。其次，分布式，非层次代理级的互动规则，将允许出现理想的机器人群体行为进行调查。第三，新的人类群体的互动模式，用于管理一个大型的自组织机器人群体，而不使用直接的命令和控制结构之间的操作员和机器人将发明和实验证明。通过这些努力，本科生将有机会作为一个团队进行基础研究和动手实验。该项目的成功完成将使许多潜在的机器人应用成为可能，如搜索和救援、环境监测以及机器人采矿和建筑。该项目的成果将通过演示视频、同行评审出版物和开放共享开发的软件广泛传播。该项目由计算机和信息科学与工程理事会的信息和智能系统部门以及刺激竞争研究的既定计划（EPSCoR）共同资助。该奖项反映了NSF的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

Adaptable Platform for Interactive Swarm Robotics (APIS): A Human-Swarm Interaction Research Testbed

交互式群体机器人（APIS）的适应性平台：人与群体交互研究测试台

• DOI: 10.1109/icar46387.2019.8981628
• 发表时间: 2019
• 期刊: 2019 19th International Conference on Advanced Robotics (ICAR
• 作者: Dhanaraj, Neel;Maffeo, Julietta;Pereira, Guilherme;Gross, Jason;Gu, Yu;Hewitt, Nathan;Edmonds-Estes, Casey;Jarman, Rachel;Seo, Jeongwoo;Gunner, Henry
• 通讯作者: Gunner, Henry