The document proposes a multi-touch interface for controlling multiple mobile robots simultaneously. Key aspects of the interface include using two hands for intuitive vector field operation, where the user can draw streams on a gridded view to direct robot movement. The interface allows operations like moving, fixing, and stopping robots. It can also integrate other control methods and autonomous algorithms. Evaluation through user testing and further extensions are discussed to improve visualization, error handling, and integration with other control paradigms.

1. Multi-touch Interface for Controlling Multiple Mobile Robots Igarashi Laboratory, The University of Tokyo JST, ERATO, IGARASHI Design UI Project Jun Kato

5. Existing User Interfaces Gesture and Speech (Rogalla, 2002) PDA and Pen (Fong, T., 2002) Joystick Mouse Gesture Speech

6. Existing User Interfaces Drawing a sketch to control robots (Skubic, M., 2007)

8. My Approach God’s view of the environment Two hands’ intuitive operation Direct manipulation of raw data for navigating robots

9. Vector Field Operation Draw a stream, drift robots!

11. Hardware Setup with

13. Available Operations on the Vector Field To move robots, To fix movements, To stop robots,

14. Implementation of the Vector Field Track motion Motion vector affects the field Vectors are overwritten completely in blue area Vectors are overwritten 0-100% in green area, in proportion to the distance from the center Capture Calibrate

15. “ So, what can we do?”

18. Extensions of Vector Field Operation Draggable virtual dog icons. Robots as sheeps run away! Bind relative positions of robots Draw or clear virtual walls.

20. Extensions of Visualization Visualization of the Vector Field with particle-animation Path calculation and visualization Error displays like time out I can’t move! Desti- nation! My path!