چكيده به لاتين
Nowadays, with progresses in robotic science, we are witnessing the omnipresence of robots in human life. Moreover, in many cases, there is serious need to interact between single human and multiple robot to do an operation or solve a problem. So, the design and implementation of a mechanism for single-human multiple-robot interaction with a low workload and in very natural way (from the user perspective), is inevitable.
This interaction mechanism should be designed and presented in such a way that it can be used with maximum efficiency in various environmental conditions, operation constraints, and wide variety of users. This intelligent mechanism, in fact, allows the user interface to be adapted in real-time to the environment conditions and the user context, in order to organize an efficient interaction.
The final goal of this thesis is presenting a secure efficient mechanism for intelligent adaptive interaction between single-human and multiple-robot. Nevertheless, there is no comprehensive architecture for IAI in the literature. In this regard, at first, an appropriate architecture was provided that contains, as far as possible, all the elements and components which affect in this intelligent interaction. Of course, the problem of modeling user forgetting and the security in interaction was also considered in the proposed architecture. Then, this interaction mechanism was modeled using Hierarchical Timed Colored Petri Net to verify the proposed architecture functionality.
Lastly, to evaluate the presented mechanism, simulation of an intelligent adaptive interface for controlling a group of UAVs was conducted using the Anylogic simulator as a very powerful simulation software. The results obtained, on the basis of various subjective and objective criteria, indicate efficiency of the proposed user interface for interaction with a group of robots.
