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    Area of Science:

    • Robotics and Control Systems
    • Human-Robot Interaction
    • Artificial Intelligence

    Background:

    • Teleoperating multirobot systems (MRS) in outdoor environments is challenging due to limitations in robot perception and the need for efficient human control.
    • Current methods restrict the number of robots a single operator can manage, hindering scalability in human-robot teams.
    • Operators possess superior environmental awareness and emergency detection capabilities compared to autonomous systems.

    Purpose of the Study:

    • To propose a distributed hierarchical shared control scheme for enabling human operators to effectively manage large MRS in outdoor settings.
    • To enhance safety and flexibility in human-robot teaming by providing intuitive control interfaces.
    • To address the limitations of current teleoperation methods for large-scale MRS.

    Main Methods:

    • A two-layered hierarchical control structure was developed.
    • The upper layer utilizes intention field networks for virtual human control signals, enabling group management and motion intervention functionalities.
    • The lower layer employs a blending-based shared control algorithm to reconcile human inputs with autonomous control signals, with Input-to-Output Stability (IOS) proven.

    Main Results:

    • The proposed scheme allows operators to split robot formations into groups and steer individual robots away from danger.
    • A blending algorithm effectively resolves conflicts between human intervention and autonomous control.
    • Usability and physical experiments demonstrated the method's effectiveness and practicality.

    Conclusions:

    • The distributed hierarchical shared control scheme provides a safe and flexible interface for human operators to interact with large MRS.
    • The system enhances the capabilities of human operators in managing complex multirobot tasks in outdoor environments.
    • The proven stability and experimental validation support the widespread adoption of this control strategy.