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dc.creatorHatanaka, Takeshies
dc.creatorMochizuki, Takahiroes
dc.creatorMaestre Torreblanca, José Maríaes
dc.creatorChopra, Nikhiles
dc.date.accessioned2023-08-23T10:27:33Z
dc.date.available2023-08-23T10:27:33Z
dc.date.issued2022
dc.identifier.citationHatanaka, T., Mochizuki, T., Maestre Torreblanca, J.M. y Chopra, N. (2022). Impact of VR Technology on a Human in Semi-autonomous Multi-robot Navigation: Control-Theoretic Perspective. En 4th IFAC Workshop on Cyber-Physical and Human Systems, CPHS 2022, IFAC PapersOnLine 55, 41 (38-43).
dc.identifier.issn2405-8963es
dc.identifier.urihttps://hdl.handle.net/11441/148509
dc.descriptionThis is an open access article under the CC BY-NC-ND license.es
dc.description.abstractIn this paper, we investigate a scenario of one-human-multiple-robot navigation in three dimensions, and examine the impacts of the VR (Virtual Reality) technology on human properties from a control-Theoretic perspective. We start by reviewing a passivity-based distributed control architecture that takes complementary interactions such that motion synchronization is autonomously completed by a distributed robot controller while the operator is dedicated to robot navigation. Due to the limited human capability of 3-D recognition and limited dimensionality on the real-Time manipulability, 3-D navigation is completely different from that of the one-or two-dimensional case and we need to carefully design both feedback and command interfaces between the operator and robots. Specifically, we employ two different pairs of the interfaces, traditional joystick controller with 2-D display monitor and HMD (Head Mounted Display) with VR controller. We then build human models from the operation data with these interfaces on a human-in-The-loop simulator. Through the human modeling, we present two novel findings: (i) VR interfaces improve the accuracy of the human model with about 25∼45% of fitting ratio, which must drastically eases the design of human-robot collaboration systems, (ii) VR interfaces enhance human passivity, which is a key to ensuring closed-loop stability for the human-in-The-loop system.es
dc.formatapplication/pdfes
dc.format.extent6 p.es
dc.language.isoenges
dc.publisherElsevieres
dc.relation.ispartof4th IFAC Workshop on Cyber-Physical and Human Systems, CPHS 2022, IFAC PapersOnLine 55, 41 (2022), pp. 38-43.
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectDistributed controles
dc.subjectMobile robotses
dc.subjectHuman–machine interfacees
dc.subjectSynchronizationes
dc.subjectSystem identificationes
dc.subjectVirtual realityes
dc.subjectPassivityes
dc.titleImpact of VR Technology on a Human in Semi-autonomous Multi-robot Navigation: Control-Theoretic Perspectivees
dc.typeinfo:eu-repo/semantics/conferenceObjectes
dcterms.identifierhttps://ror.org/03yxnpp24
dc.type.versioninfo:eu-repo/semantics/publishedVersiones
dc.rights.accessRightsinfo:eu-repo/semantics/openAccesses
dc.contributor.affiliationUniversidad de Sevilla. Departamento de Ingeniería de Sistemas y Automáticaes
dc.relation.projectID21K04104es
dc.relation.projectIDPID2020-119476RB-I00es
dc.relation.projectID10.13039/501100011033es
dc.relation.publisherversionhttps://www.sciencedirect.com/science/article/pii/S2405896323001076es
dc.identifier.doi10.1016/j.ifacol.2023.01.100es
dc.contributor.groupUniversidad de Sevilla. TEP116: Automática y Robótica Industriales
dc.publication.volumen55es
dc.publication.issue41es
dc.publication.initialPage38es
dc.publication.endPage43es
dc.eventtitle4th IFAC Workshop on Cyber-Physical and Human Systems, CPHS 2022, IFAC PapersOnLine 55, 41
dc.contributor.funderSociedad Japonesa para la Promoción de la Cienciaes
dc.contributor.funderMinisterio de Ciencia e Innovación (MICIN). Españaes
dc.contributor.funderAgencia Estatal de Investigación. Españaes

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