Behavioral performance of multi-robots driven by human drawing

This work addresses the problem of behavioral performance of multi-robots corresponding to human drawing inputs in the sense of friendly human-robot interaction. We propose a drawing interface algorithm with multi-robots based on the centroidal Voronoi tessellation and the continuous-time Lloyd algorithms which have popularly been used for sensing and coverage control of multi-robots. Multi-robots can perform some meaningful behaviors through the real-time density functional update which reflects human drawings. Three drawing modes (distribution, following, and dancing modes) are implemented. Simulation tests verify the feasibility of the proposed algorithm.