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Freehand Sketching for End-User Programming of Robot Swarms — arXiv:2609.11078

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.11078
License (as archived): CC0-1.0
Archived: 2026-10-16T06:35:58.710Z
SHA-256 of the archived text: 4980e3b90b2b9bddac83ef56298caf57ad2c6736859c4d9fa5eb7a837ed31444
Stable URL of this page: https://metraipolis.com/documento/dc_7bd04cedd48d

How to cite

Freehand Sketching for End-User Programming of Robot Swarms — arXiv:2609.11078 — arXiv (en), https://arxiv.org/abs/2609.11078 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_7bd04cedd48d (Metraipolis archive dc_7bd04cedd48d, sha256 4980e3b90b2b9bddac83ef56298caf57ad2c6736859c4d9fa5eb7a837ed31444)

BibTeX

@misc{dc7bd04cedd48d,
  title = {Freehand Sketching for End-User Programming of Robot Swarms — arXiv:2609.11078},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.11078},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_7bd04cedd48d; sha256 4980e3b90b2b9bddac83ef56298caf57ad2c6736859c4d9fa5eb7a837ed31444},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.11078. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Robot swarms are increasingly used in applications where accessible interaction with non-expert users is desirable. This paper investigates freehand sketching as an end-user programming interface for specifying robot swarm geometries. Users communicate spatial intent through a drawing, while the swarm autonomously extracts target formation points, constructs a rigid formation graph, assigns robots to formation nodes, and executes distributed formation control with a guarantee against unintended reflected formations. The resulting sketch-to-swarm framework is evaluated through a human study examining the usability of freehand formation specification. Twenty participants generated $42$ geometric shapes, and the interface achieved a mean System Usability Scale score of $84.25$, which conventionally indicates high perceived usability. The results support freehand sketching as an intuitive interaction abstraction for human-swarm collaboration without requiring robotics or programming expertise.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-11 in cs.RO).
Categorie arXiv: Robotics (cs.RO) ; Systems and Control (eess.SY).
Pagina del lavoro: https://arxiv.org/abs/2609.11078 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-16T06:10:18.211Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-11?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).