Interface for Multi-robots Based Video Coverage

摘要

In this paper we address the problem of coverage area with multi-robot system by giving an autonomy level to single robot as well as the team. The coverage concept is based on Voronoi algorithm and it applied to extract the minimum number of views from the supervised environment. Human Robot Interface was developed to allow user to selects minimum points' locations where robots have to achieve the supervision task. Moreover, user can access at any time through the interface watching video streams feedback coming from robots and semi-autonomous robots can locally correct their paths if probability collusion, with the environment, is predicted based on new adapted Active Counter Model. However, failed robots can easily request help from user, where, this last acts overcoming the robot from its unlikely situation. The coverage strategy that we proposed combines the real robot motion (by consideration motion error and process the correction method) and the human robot interaction as well as the supervision paradigms.