Towards Augmented Reality Support for Swarm Monitoring: Evaluating Visual Cues to Prevent Fragmentation

Swarm fragmentation, the breakdown of communication and coordination among robots, can critically compromise a swarm's mission. Integrating Augmented Reality support into swarm monitoring-especially through co-located visualisations anchored directly on the robots- may enable human operators to...

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Vydáno v:IEEE transactions on visualization and computer graphics Ročník 31; číslo 11; s. 10142 - 10151
Hlavní autoři: Henard, Aymeric, Peillard, Etienne, Riviere, Jeremy, Kubicki, Sebastien, Coppin, Gilles
Médium: Journal Article
Jazyk:angličtina
Vydáno: United States IEEE 01.11.2025
Institute of Electrical and Electronics Engineers
Témata:
Adult
Augmented Reality
Computer Graphics
Computer Science
Cues
Distribution functions
Female
Force
Graphical models
Graphics
Human-Computer Interaction
Human-Swarm Interaction
Humans
Male
Monitoring
Perception-Decision-Action Loop
Reviews
Robot kinematics
Robot Swarms
Robotics
Robotics - methods
Robots
Solid modeling
Supervision
User Study
User-Computer Interface
Virtual Reality
Visualisation
Visualization
Young Adult
Human-Swarm Interaction
User Study
Perception-Decision-Action Loop
Augmented Reality
Robot Swarms
Visualisation
Supervision
Virtual Reality
ISSN:1077-2626, 1941-0506, 1941-0506
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Shrnutí:Swarm fragmentation, the breakdown of communication and coordination among robots, can critically compromise a swarm's mission. Integrating Augmented Reality support into swarm monitoring-especially through co-located visualisations anchored directly on the robots- may enable human operators to detect early signs of fragmentation and intervene effectively. In this work, we propose three localised visual cues-targeting robot connectivity, dominant decision influences, and movement direction-to make explicit the underlying Perception-Decision-Action (PDA) loop of each robot. Through an immersive Virtual Reality user study, 51 participants were tasked with both anticipating potential fragmentation and selecting the appropriate control to prevent it, while observing swarms exhibiting expansion, densification, flocking, and swarming behaviours. Our results reveal that a visualisation emphasising inter-robot connectivity significantly improves anticipation of fragmentation, though none of the cues consistently enhance control selection over a baseline condition. These findings underscore the potential of co-located AR-enhanced visual feedback to support human-swarm interaction and inform the design of future AR-based supervisory systems for robot swarms. A free copy of this paper and all supplemental materials are available at https://osf.io/49gny.
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ISSN:1077-2626
1941-0506
1941-0506
DOI:10.1109/TVCG.2025.3616840