Multi-Human Multi-Robot Interaction in the Wild

这项研究计划的目标是为智能移动机器人系统开发新的功能，以便在户外与人一起工作。最近，在定位和测绘方面有了巨大的进步：机器人现在可以使用激光扫描仪和相机制作非常详细的环境公制地图。我的目标是开发机器人系统的能力，以(I)在其地图上实时定位人并跟踪他们的活动，无论是小距离还是大距离；以及(Ii)与个人和群体互动，以执行有用的任务。机器人将共同回答这些问题：人在哪里？他们需要什么样的机器人帮助？*这个项目将机器人学(多机器人协调、任务分配、地图绘制、定位和其他状态估计、轨迹规划和人类机器人交互(HRI))中的最先进技术与计算机视觉(人类识别和跟踪、活动识别)以及对个人和群体中人类行为的研究结合在一起。我的团队将使用地面和空中机器人，具有多种传感器模式，主要是在户外的半结构化环境中和长距离。这项工作将在不同的地点进行，包括西蒙·弗雷泽大学作为一个城市环境，以及温哥华周围的山脉、森林和湖泊。*当前的工作计划将扩大我的实验室在多机器人HRI方面新确立的领先地位，并将其与我的团队以前在简单而强大的多机器人协调、任务分配和能源管理方面的工作结合起来。我们将这一背景带入非常热门的环境测绘和监测背景下，并观察和了解人们的行动和需求：这些都是无人机的关键应用。我们在所有这些领域都做出了贡献，并寻求将它们结合到一个长期计划中，该计划将成为我的实验室和加拿大各地团队一系列合作和项目的基础。这笔探索基金将允许我的实验室探索核心想法和问题，我们将在具体的研究伙伴关系和商业前期项目中进一步发展这些想法和问题。**

The goal of this research program is to develop new capabilites for intelligent mobile robot systems to work with people outdoors. Recently there has been enormous progress in localization and mapping: robots can now make very detailed metric maps of their environment using laser scanners and cameras. My aims are to develop the ability of robot systems to (i) locate people and track their activity on their maps in real time, over small and large distances; and (ii) interact with individual and groups of people to perform useful tasks. Robots will work together to answer these questions: Where are the people? What robot help do they need?***This program combines the state-of-the-art in robotics (multi-robot coordination, task allocation, mapping, localization and other state-estimation, trajectory planning, and human robot interaction (HRI)) with computer vision (human recognition and tracking, activity recognition) and the study of human behaviour as individuals and in groups. My team will use ground and air robots, with multiple sensor modalities, mainly outdoors in semi-structured environments and over large distances. The work will be done in various locations including Simon Fraser University as an urban environment, and in the mountains, forests and lakes around Vancouver.****This current program of work will extend my lab's newly-established leading position in multi-robot HRI, and combine it with my group's previous work in simple and robust multi-robot coordination, task allocation and energy management. We bring this background into the very-topical context of environmental mapping and monitoring, and observing and understanding the movement and needs of people: these are key applications for Unmanned Air Vehicles. We have made contributions in all these areas and seek to bring them together into a long-term program that will form the basis of a range of collaborations and projects in my lab and with teams across Canada. This Discovery Grant will allow my lab to explore core ideas and problems which we will develop further in specific research partnership and pre-commercial projects.**