One of the active challenges in multi-robot missions is related to managing operator workload and situational awareness. Currently, the operators are trained to use interfaces, but in the near future this can be turned inside out: the interfaces will adapt to operators so as to facilitate their tasks. To this end, the interfaces should manage models of operators and adapt the information to their states and preferences. This work proposes a videogame-based approach to classify operator behavior and predict their actions in order to improve teleoperated multi-robot missions. First, groups of operators are generated according to their strategies by means of clustering algorithms. Second, the operators' strategies are predicted, taking into account their models. Multiple information sources and modeling methods are used to determine the approach that maximizes the mission goal. The results demonstrate that predictions based on previous data from single operators increase the probability of success in teleoperated multi-robot missions by 19%, whereas predictions based on operator clusters increase this probability of success by 28%. ... Read more

Robot cooperation is key in Search and Rescue (SaR) tasks. Frequently, these tasks take place in complex scenarios affected by different types of disasters, so an aerial viewpoint is useful for autonomous navigation or human tele-operation. In such cases, an Unmanned Aerial Vehicle (UAV) in cooperation with an Unmanned Ground Vehicle (UGV) can provide valuable insight into the area. To carry out its work successfully, such as multi-robot system requires the autonomous takeoff, tracking, and landing of the UAV on the moving UGV. Furthermore, it needs to be robust and capable of life-long operation. In this paper, we present an autonomous system that enables a UAV to take off autonomously from a moving landing platform, locate it using visual cues, follow it, and robustly land on it. The system relies on a finite state machine, which together with a novel re-localization module allows the system to operate robustly for extended periods of time and to recover from potential failed landing maneuvers. Two approaches for tracking and landing are developed, implemented, and tested. The first variant is based on a novel height-adaptive PID controller that uses the current position of the landing platform as the target. The second one combines this height-adaptive PID controller with a Kalman filter in order to predict the future positions of the platform and provide them as input to the PID controller. This facilitates tracking and, mainly, landing. Both the system as a whole and the re-localization module in particular have been tested extensively in a simulated environment (Gazebo). We also present a qualitative evaluation of the system on the real robotic platforms, demonstrating that our system can also be deployed on real robotic platforms. For the benefit of the community, we make our software open source. ... Read more