PhD Aymeric HÉNARD

Aymeric HÉNARD

• PhD title: Augmented Reality and Tangible User Interface to Supervise and Interact with robot Swarms
• INUIT themes 1 and 4
• Thesis dates: 10/2021 – 09/2024
• Supervision: G. Coppin – J. Rivière – S. Kubicki – É. Peillard
• Context/Funding: ANR JCJC Artuisis
• General Goal:
  • To allow an operator to control a swarm, a self-organising system composed of many robots acting together, in an informed and simple way
• Scientific challenges:
  • To communicate informations from a decentralized and spatially localized system in an efficient manner to help an operator understand the dynamics of the swarm
  • To implement a Tangible User Interface allowing to control an autonomous and decentralized robot swarms in a natural way
• Keywords: Robot swarm, Self-organisation, AR, Tangible User Interface
• Contributions:
  • State of the art on swarm self-organisation methods and human perception of swarms (understanding swarm dynamics)
  • Construction of a state-of-the-art and classification of self-organization methods leading to spatial self-organization of robot swarms, helping to link mechanisms to realizable behaviors and offering perspectives for operators and designers. (Adaptive Behaviour article)
  • Working on swarm rupture prevention by analyzing human perception of swarm rupture in order to give relevant information to the operator (communicating swarm dynamics)