MoTiS Parameters for Expressive Multi-Robot Systems: Relative Motion, Timing, and Spacing

Area of Science:

• Human-Robot Interaction
• Multi-Robot Systems
• Expressive Motion

Background:

• Multi-robot systems are increasingly deployed in human environments, necessitating effective human-robot communication.
• Expressive motion is vital for robot communication, but its application in multi-robot systems presents unique challenges due to expanded state spaces.

Purpose of the Study:

• To evaluate a hierarchical parameter framework for generating effective multi-robot expressive motion.
• To understand how specific motion parameters influence human perception of multi-robot groups.

Main Methods:

• Developed a hierarchical framework with six parameters: relative direction, coherence, relative speed, relative start time, proximity, and geometry.
• Conducted six independent online studies to isolate and assess the impact of each parameter on human perception.
• Analyzed human interpretations of robot group behavior, positive/negative perception, and the influence of architectural context.

Main Results:

• Four out of the six evaluated parameters significantly impacted human perception of multi-robot groups.
• Identified key factors influencing human interpretation of robot group identity and intent.
• Highlighted the critical role of architectural floor plans in shaping human understanding of robot behavior.

Conclusions:

• A parameter-based framework can effectively generate expressive motion for multi-robot systems.
• Specific motion parameters are crucial for positive human perception and clear communication in human-robot teams.
• Future multi-robot designs should consider environmental context and human perceptual factors for seamless integration.