Contribution to human multi-robot system interaction application to a multi-robot mission editor

The general objective of this work is to model and conceive a system allowing a user, more particularly a disabled person, to give a mission to a team of robots in a structured indoor type environment and to determine the whole processes necessary to its execution. The missions are of assistance type, objects displacement and site monitoring. The increase of the robots number involves additional management difficulties, thus there is a crucial need for providing an interface adapted for the input and the supervision of this type of mission. We propose a model based on two levels of abstraction through which the user request is analyzed. A first level takes care of the syntactic and semantics checkings by validating and supplementing the request. A second level takes care of the geometrical checkings and validates the passage of the robots in formation for the transport of an object. The result is then presented to the user. The originality of this work stands mainly in the approach of the human multi-robot system interaction. The proposed system is participative, interactive and incremental, with an active assistance to the mission specification. A solution for setting up the levels of the model is proposed as well as examples of use.