Behavioral performance of multi-robots driven by human drawing

This work addresses the problem of behavioral performance of multi-robots corresponding to human drawing inputs in the sense of friendly human-robot interaction. We propose a drawing interface algorithm with multi-robots based on the centroidal Voronoi tessellation and the continuous-time Lloyd algorithms which have popularly been used for sensing and coverage control of multi-robots. Multi-robots can perform some meaningful behaviors through the realtime density functional update which reflects human drawings. Three drawing modes (distribution, following, and dancing modes) are implemented. Simulation tests verify the feasibility of the proposed algorithm.