Posts tagged Ellen A Cappo
Online planning for human – multi-robot interactive theatrical performance

This paper describes a full system for controlling multi-robot teams online, meaning that plans do not have to be designed prior to operation. The system is specifically illustrated with quadrotors in the context of an improvisational theatrical performance. The robot system interprets commands received from a human operator into dynamically feasible and collision free trajectories, and smoothly transitions from currently executing plans to the new trajectories in real time.

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Interactive Online Choreography for a Multi-Quadrotor System

This short workshop paper gives an overview of our system enabling a theatrical performance, performed with six quadrotors over three acts, and dynamically directed by a theatric performer. This means that all behaviors performed by the robots during the course of the 100+ behavior production were not prescripted, but commanded, planned for, and executed online in real time during the production. Plots of the acceleration and minimum clearance distance over the robot team show that the generated trajectories are safe and dynamically feasible, and still images from the performance (accompanying video link provided) highlight elements of the approach.

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Choreographing Theatrical Scenes for Aerial Robots through Keyframe Interpolation

Artists and choreographers who wish to employ robots in theatrical productions may have trouble designing dynamically feasible robot trajectories. This short paper describes a simple design approach based on storyboarding, a common method for communicating spatial and temporal motions. Our approach allows a user to move physical robot tokens around a mock-up of the environment. A camera captures snapshots, or “keyframes,” of the user’s design, and a robotics expert or AI planner can then use well-understood trajectory generation methods to create robot trajectories from these keyframes.

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Persistent Robot Formation Flight via Online Substitution

This work presents a means of ensuring continuous operation by computing non-colliding paths to guide robots in and out of a planned, long duration path, allowing robots to temporarily depart and recharge. The focus of our approach is to quickly generate collision-free paths that minimally diverge from the original plan. In this manner, a user could generate an extremely long-duration plan that neglects battery capacity limitations and rely on our approach to swap depleted and charged robots, ensuring continuous operation.

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