A ROS-based Framework for Monitoring Human and Robot Conditions in a Human-Multi-robot Team

TL;DR

This paper introduces a ROS-based framework for real-time monitoring of human and robot conditions in multi-robot teams, supporting various sensors and enabling synchronized data sharing.

Contribution

It proposes a modular, ROS-compatible framework for monitoring and synchronizing human and robot conditions in multi-robot systems, validated through user studies and experiments.

Findings

Effective real-time monitoring of human and robot states.

Successful synchronization of multi-source data.

Positive user feedback on framework usability.

Abstract

This paper presents a framework for monitoring human and robot conditions in human multi-robot interactions. The proposed framework consists of four modules: 1) human and robot conditions monitoring interface, 2) synchronization time filter, 3) data feature extraction interface, and 4) condition monitoring interface. The framework is based on Robot Operating System (ROS), and it supports physiological and behavioral sensors and devices and robot systems, as well as custom programs. Furthermore, it allows synchronizing the monitoring conditions and sharing them simultaneously. In order to validate the proposed framework, we present experiment results and analysis obtained from the user study where 30 human subjects participated and simulated robot experiments.