On Passivity-Shortage of Human Operators for A Class of Semi-autonomous Robotic Swarms

Made Widhi Surya Atman, Kosei Noda, Riku Funada, Junya Yamauchi, Takeshi Hatanaka, Masayuki Fujita

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


This paper analyzes perceived workload and passivity-shortage of human operators for a class of semi-autonomous robotic swarms. First, we briefly introduce the passivity-short-based architecture presented in one of our previous works, which guarantees human-enabled motion synchronization to desired position/velocity references under the assumption that the human operator's thought process is a passivity-short system. It is observed that changes in parameter affects the visual feedback to the operator and also the complexity of the setups. Through user-studies using a human-in-the-loop simulator and questionnaires, we observe an increase in the perceived workload of the human operator for more complex setups. The result imposes the trade-off for less workload vs. clarity of the robotic swarms’ information to the human operator. Furthermore, through non-parametric system identification on data from user-studies, it is observed that all obtained models of the participants have the passivity-short property.

Original languageEnglish
Pages (from-to)21-27
Number of pages7
Issue number34
Publication statusPublished - 2019 Jan 1
Externally publishedYes


  • cooperative control
  • interconnected passivity-short systems
  • semi-autonomous robotic swarms

ASJC Scopus subject areas

  • Control and Systems Engineering


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