Physical Robot Swarm Testbed at ARL: Specifications and Experimental Design Possibilities
[Technical Report, Technical Report]
CCDC Army Research Laboratory
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The Arena for Indoor Research on Swarm-Human Interaction Performance AIRSHIP testbed is a human swarm interaction testbed located at ARL-West in Los Angeles, California. It currently features 10 small quadcopter unmanned aerial vehicles with indoor localization capability, open-source firmware, and communication with a native PC client. A physical testbed was deemed necessary for human multirobot interaction studies because it would accurately reflect the human psychophysiological response to interaction with physical robots, the variability and stochasticity of environmental factors, and true hardware constraints on proposed algorithms. This report details the current status and future vision for AIRSHIP. We developed the testbed with a focus on enabling research in these areas user interfaces, interaction modalities, agent hardware and algorithms, system scalability, and human variability. A set of possible scenarios for human subjects studies is also given, such as search and rescue, monitoring, and construction.