Integrated system architecture with mixed-reality user interface for virtual-physical hybrid swarm simulations.

ABSTRACT: This paper introduces a hybrid robotic swarm system architecture that combines virtual and physical components and enables human-swarm interaction through mixed reality (MR) devices. The system comprises three main modules: (1) the virtual module, which simulates robotic agents, (2) the physical module, consisting of real robotic agents, and (3) the user interface (UI) module. To facilitate communication between the modules, the UI module connects with the virtual module using Photon Network and with the physical module through the Robot Operating System (ROS) bridge. Additionally, the virtual and physical modules communicate via the ROS bridge. The virtual and physical agents form a hybrid swarm by integrating these three modules. The human-swarm interface based on MR technology enables o

SUBMITTER: Zheng C 

PROVIDER: S-EPMC10485072 | biostudies-literature | 2023 Sep

REPOSITORIES: biostudies-literature