Robot of a multi-robot system, Multi-robot system comprising it, method of controlling robots of a multi-robot system

Abstract

Robot of a multi-robot system, Multi-robot system comprising it, method for controlling robots of a multi-robot system The present invention relates to a multi-robot system and the control of the robots of this multi-robot system, in particular in the case of a swarm of robots. One aspect of the invention is a robot of a multi-robot system capable of reproducing at least one signal with a given frequency associated at least with the robot, the given frequency associated with the robot being distinct from the given frequencies associated with the other robots of the multi-robot system. Thus, depending on the frequency of the stimulus on which the user / operator is concentrating, he controls a robot associated with this frequency in a neuronal manner. Figure for the abstract: Figure 1

Description

Title of the invention: Robot of a multi-robot system, Multi-robot system comprising it, method for controlling robots of a multi-robot system Technical field

[0001] The present invention relates to a multi-robot system and the control of the robots of this multi-robot system, in particular in the case of a swarm of robots. State of the art

[0002] Over the past few decades, the field of robotics has experienced significant development, leading to the creation of a multitude of applications in various sectors. In particular, current robots have the ability to operate in environments shared with other robots as well as human beings.

[0003] Despite their autonomy, it remains essential that the user can control them and influence their decisions, in particular to reduce behavioral errors in these robots, or even avoid accidents between robots, or even with humans sharing the same environment.

[0004] However, with the increase in the number of robots used by a single application, this task becomes increasingly complex because it is no longer possible to have one operator per robot to take control of it.

[0005] Furthermore, currently, robot management is mainly based on manual commands. The user controls the robots, in particular by means of remote controls, graphical interfaces or by pressing buttons. However, this type of control is not very suitable when the number of robots involved is large, as in the case of robot swarms. Statement of the invention

[0006] One or more aspects of the invention are intended to overcome deficiencies in the prior art.

[0007] One aspect of the invention is a robot of a multi-robot system capable of reproducing at least one signal with a given frequency associated at least with the robot, the given frequency associated with the robot being distinct from the given frequencies associated with the other robots of the multi-robot system.

[0008] Thus, depending on the frequency of the stimulus on which the user / operator is concentrating, he controls a robot associated with this frequency in a neuronal manner.

[0009] Advantageously, the given frequency is one of the following: - a first given frequency associated with the robot; - a second given frequency associated with a robot control signal; - a third given frequency associated with a direction of adjustment of a parameter of a robot command.

[0010] Thus, depending on the frequency of the stimulus on which the user / operator is concentrating, he controls a robot associated with this frequency in a neuronal manner, or even manages the command executed by this robot (type of command and / or parameterization of the command).

[0011] Advantageously, the reproduced signal is one of the following: - an auditory signal; - a visual signal.

[0012] Thus, when several stimuli are emitted by a robot, that is to say when several signals are reproduced by a robot, a first signal can be auditory (for example the one whose frequency is associated with the robot) and a second signal, or even a third signal, can be visual (for example the one whose frequency is associated with a control signal of the robot, respectively with a direction of adjustment of a control parameter of the robot. This avoids errors in the control of the robot, when several signals are reproduced by the same robot.

[0013] Furthermore, an auditory signal may be preferred in a bright environment, or even a visual signal in a noisy environment to reduce control errors of the robots in the multi-robot system linked to a problem of perception by the user / operator of the signals reproduced by the robot.

[0014] Advantageously, the robot comprises a controller capable of triggering a command of the robot as a function of a neural frequency received from a direct neural interface during a reproduction by the robots of signals to be reproduced with distinct given frequencies, the received neural frequency being a function of a given frequency among the distinct given frequencies, the given frequency and the determined robot being associated.

[0015] Thus, the robot controller triggers a command of the robot when it recognizes a frequency associated with it. The architecture is then distributed, reducing the control delays linked to a centralized architecture.

[0016] One aspect of the invention is also a multi-robot system comprising: - several robots capable of reproducing at least one signal with a given frequency associated with at least one robot, the given frequency associated with the robot being distinct from the given frequencies associated with the other robots of the multi-robot system, and - a controller capable of controlling at least one determined robot of the multi-robot system as a function of a neural frequency received from a direct neural interface during reproduction by the robots of signals to be reproduced with distinct given frequencies, the received neural frequency being a function of a given frequency among the distinct given frequencies, the given frequency and the determined robot being associated.

[0017] Thus, depending on the frequency of the stimulus or even the frequencies of the stimuli on which the user concentrates, he controls a robot associated with this frequency in a neuronal manner, or even manages the command executed by this robot (type of command and / or parameterization of the command).

[0018] Advantageously, the controller is a centralized controller capable of controlling several robots of the multi-robot system.

[0019] Thus, the invention can be implemented with any robots, in particular robots not comprising a neural control interface.

[0020] Advantageously, the multi-robot system comprises: - a reproduction interface capable of reproducing at least one signal with a given frequency among the following: + a second given frequency associated with a control signal from at least one of the robots; + a third given frequency associated with a direction of adjustment of a parameter of a command of at least one of the robots.

[0021] Thus, the robots only reproduce signals with frequencies that make it possible to determine the robot in the multi-robot system that the user wishes to control. This limits the risks of errors in controlled robots linked to a large number of neighboring reproduced signals.

[0022] Furthermore, since the commands of all the robots in the multi-robot system are associated with the same reproduced signal(s), this reduces the number of reproduced signals and therefore the risk of command errors and / or command parameterization errors of the controlled robot.

[0023] Advantageously, the controller is a distributed controller comprising several controllers specific to several robots of the multi-robot system, a controller specific to a robot of the multi-robot system being capable of triggering a command of the robot as a function of a neural frequency received from a direct neural interface during a reproduction by the robots of signals to be reproduced with distinct given frequencies, the received neural frequency being a function of a given frequency among the distinct given frequencies, the given frequency and the determined robot being associated.

[0024] Thus, order times are reduced since the robots directly receive the neural frequencies allowing them to be controlled.

[0025] One aspect of the invention is also a method of controlling robots of a multi-robot system comprising: - controlling a determined robot of the multi-robot system as a function of a neural frequency received from a direct neural interface during reproduction by the robots of signals to be reproduced with distinct given frequencies, the received neural frequency being a function of a given frequency among the distinct given frequencies, the given frequency and the determined robot being associated.

[0026] Advantageously, the control of the determined robot is carried out by means of a control signal determined as a function of a neural frequency received from a direct neural interface during a reproduction of signals to be reproduced with distinct given frequencies, the received neural frequency being a function of a given frequency among the distinct given frequencies, the given frequency and the determined control signal being associated.

[0027] Advantageously, the control method comprises: - adjusting a control parameter of a robot in one of several distinct adjustment directions, as a function of a neural frequency received from a direct neural interface during a reproduction of signals to be reproduced with distinct given frequencies, the received neural frequency being a function of a given frequency among the distinct given frequencies, the given frequency and the determined control signal being associated.

[0028] Advantageously, the control method comprises at least one first determination among the following determinations depending on at least one first received neural frequency: - determine a robot to control; - determine a command of the determined robot; - determine a specific robot control adjustment parameter.

[0029] Advantageously, the control method comprises, following the first determination as a function of the first neuronal frequency received, a second determination as a function of at least one second neuronal frequency received after the first neuronal frequency received: - determine a command of the determined robot; - a determination of the robot control adjustment parameter determined.

[0030] Advantageously, the control method comprises, following the second determination as a function of the second neuronal frequency received, a third determination as a function of at least one third neuronal frequency received after the second neuronal frequency received: - determine a specific control setting parameter of the specific robot.

[0031] Advantageously, according to an implementation of the invention, the different steps of the method according to the present disclosure are implemented by software or computer program, this software comprising software instructions intended to be executed by a data processor of a device forming part of a multi-robot system and designed to control the execution of the various stages of this process.

[0032] The invention therefore also relates to a program comprising program code instructions for executing the steps of the method for controlling robots of a multi-robot system according to the present disclosure when said program is executed by a processor.

[0033] This program may use any programming language and be in the form of source code, object code, or intermediate code between source code and object code, such as in a partially compiled form or in any other desirable form. Brief description of the drawings

[0034] The characteristics and advantages of the invention will appear more clearly on reading the description, given by way of example, and the figures relating thereto which represent:

[0035] [Fig.l], a simplified diagram of a robot of a multi-robot system according to the invention,

[0036] [Fig.2], a simplified diagram of a multi-robot system according to the invention,

[0037] [Fig.3], a simplified diagram of the exchanges during the implementation of a method of robot control of a multi-robot system according to the invention. Description of the embodiments

[0038] By robot is understood in particular a machine or device capable of moving and / or manipulating objects and / or performing operations.

[0039] [Fig.l] illustrates a simplified diagram of a robot of a multi-robot system according to the invention.

[0040] A robot 11, 12 ... In ... IN of a multi-robot system 1 is capable of reproducing at least one signal st(fn) with a given frequency fn associated at least with the robot, the given frequency fn associated with the robot In being distinct from the given frequencies associated with the other robots {Iz};=jv of the multi-robot system 1: fn fi.

[0041] In particular, the given frequency fn is one of the following frequencies: - a first given frequency associated with the robot In; - a second given frequency f» associated with a control signal cmdn of the robot In; - a third given frequency associated with a direction of adjustment drn of a parameter pn of a command cmd, cmdn of the robot In.

[0042] By data is in particular understood defined, fixed, determined. Optionally, a given frequency fn and a given robot In, a given control signal cmdn, a given adjustment direction drn correspond respectively to a frequency, a robot, a control signal, an adjustment direction chosen, for example during the manufacture of the multi-robot system 1 comprising the robot In, during the integration of the robot In into the multi-robot system 1, or by the user U.

[0043] The association of a given frequency with a robot In of the multi-robot system 1, respectively a control signal cmdn of a robot In of the multi-robot system 1, or an adjustment direction drn of a parameter pn of a command cmd, cmdn of a robot In of the multi-robot system 1 being carried out during an initialization of the robot In, or even of the multi-robot system 1 comprising the robot In.

[0044] A direction of adjustment of a control parameter can also be understood, in particular, as a direction of adjustment of a control parameter. The direction of adjustment of a control parameter is, for example, one of the following directions: adjustment towards higher values ​​of the control parameter, adjustment towards lower values ​​of the control parameter, adjustment towards a position of the control parameter further to the right, further to the left, further up, further down, etc.

[0045] In particular, the robot In comprises a controller InO' (not shown) capable of triggering a command of the robot In, also called a determined robot, as a function of a neural frequency received fœg from a direct neural interface 2 during a reproduction by the robots 11, 12... In ... IN of signals to be reproduced M / j LM / D ) with distinct given frequencies fn, f1, the frequency l \ n / J nl , n ' I nn received neural feeg being a function of a given frequency fn, among the distinct given frequencies, the given frequency fn, / 1 and the determined robot In being associated.

[0046] .

[0047] Thus, the robot In is able, by means of the controller InO', to identify, upon reception of a received neuronal frequency, whether this corresponds to a frequency fn which is associated with it (as a determined robot) and to trigger a command of the robot if this is the case.

[0048] In particular, the reproduced signal st is one of the following signals: - an auditory signal; - a visual signal.

[0049] The use of an audio signal is of interest in situations in which visual stimuli are not accessible to the user, either because he is visually impaired, or because of the ambient brightness, or because of the position of the user in relation to an interface-neural stimulator ln2 (not in the same room, or positioned with his back to the interface-neural stimulator, etc.), etc. The robot comprises in particular a neural stimulator interface capable of reproducing the signal st(fn), also called stimulus, with the given frequency fn associated at least with the robot. Thus, an audio signal to be reproduced allows neural interaction in conditions where it would be impossible or even difficult for a visual signal to be reproduced, avoiding errors in the implementation of the multi-robot system, in particular linked not only to interaction errors but also to absences of interaction.

[0050] In particular, the robot In is connected to a communication network 3 (not shown) to which the equipment of the multi-robot system 1 is connected. In particular, the robot In is connected to the communication network 3 via a wireless local area network such as Wifi, Bluetooth, Lora, etc.

[0051] In particular, the pairs formed by the association of a given frequency fn with a robot In: f1 o or with a given command cmdn of a robot In of a multi-robot system 1 y2 cmdn{ ln), or with an adjustment direction drn of a parameter pn of a command cmd, cmdn of a robot In: y3 e» cmdn(p , h?) are stored in particular in a storage device 101, such as a memory, a database, etc. of the multi-robot system 1, in particular of a controller 10' of the multi-robot system 1, or even of a robot manager 10 (illustrated by [Fig.2]).

[0052] In an alternative embodiment in which the architecture is not a centralized architecture, the controller 10' is constituted by communication buses to which the robots subscribe. Each robot is then able to receive the command from the direct neural interface via this communication bus, also called data bus, and to interpret it to control the robot.

[0053] In particular, a robot In comprises a neural stimulator interface ln2 (not shown) capable of reproducing a signal st(fn) with a given frequency fn. Optionally, the neural stimulator interface ln2 is connected to a communication network 3 to which the multi-robot system 1 is connected. Thus, the neural stimulator interface ln2 of the robot In is capable of reproducing at least one signal st(fn) with a given frequency fn from among the following: - a first given frequency y^ associated with the robot In; - a second given frequency y2 associated with a control signal cmdn of the robot In; - a third given frequency y3 associated with a direction of adjustment drn of a parameter pn of a command cmd, cmdn of the robot In.

[0054] The robot In, in particular its neural stimulator interface ln2, notably comprises a receiver InOl (not illustrated) capable of receiving:

[0055] - either an indication signal i(fn) of a given frequency fn emitted by the manager of robots 10 and / or the controller 10' for the associated robot In, in particular its neural stimulator interface ln2; - either a signal sr(fn) to be reproduced with the given frequency fn generated by the robot manager 10 and / or the controller 10' and emitted to the associated robot In, in particular its neural stimulator interface ln2.

[0056] In particular, the robot In, in particular its neural stimulator interface, comprises a generator ln4 (not shown) of a signal to be reproduced sr(fn) with a given frequency fn associated, for example as a function of the given frequency fn received with the indication signal i(fn) of the given frequency fn coming from the robot manager 10 and / or the controller 10'. The signal thus generated sr(fn) is capable of being reproduced by the robot In, in particular its neural stimulator interface ln2.

[0057] A robot In, in particular its neural stimulator interface, is therefore capable of reproducing a signal sr(fn) with a given frequency fn. Optionally, the given frequency fn is associated by the robot manager 10 and / or the controller 10' with a given robot In, and / or with a given command cmdn of a given robot In and / or with a given adjustment direction drn of a command parameter pn cmd, cmdn of a given robot In.

[0058] The robots {ln]n, in particular the reproduction devices {ln3]n of the robots {ln]n, broadcast stimuli or signals reproduced at given frequencies ïst'Àfn) corresponding to the reproduction signals to be reproduced {sr(fn) with the given frequencies [fn} The reproduced stimuli or signals [st( f}], {st„ (f}] are perceptible, notably visible in the case of visual or audible stimuli in the case of audio stimuli, by a user U.

[0059] In particular, the robot In, in particular its neural stimulator interface ln2, comprises a reproduction interface or reproduction device ln3 (not illustrated) capable of reproducing the signal(s) to be reproduced sr, lsrn} with the given frequencies { / «} The signal thus reproduced st(fn) constitutes a stimulus broadcast by the robot In, in particular by its neural stimulator interface ln2.

[0060] In particular, the generator provides the generated signal sr(fn) possibly to the reproduction device ln3.

[0061] The diffusion of a stimulus st, stn, also called reproduced signal, with the frequency given fn by the robot In results from a reproduction of a signal to be reproduced sr, srn with a frequency given fn by the robot In, in particular by its reproduction device ln3.

[0062] This reproduced stimulus or signal st, stn with the given frequency fn induces, in the brain of the user who concentrates on the reproduced stimulus signal st, stn with the given frequency fn, (in particular when he listens / watches the reproduced stimulus or signal, this being respectively an auditory / visual stimulus), an evoked potential whose neuronal frequency feeg is a function of the given frequency fn.

[0063] The reproduction device ln3 is in particular one of the following reproduction devices: - a visual reproduction device such as a 2D, 3D, etc. screen (the screen comprising at least one pixel which can vary, in particular turn on or off, at at least one predefined frequency), one or more light-emitting or laser diodes (in particular a mosaic of light-emitting diodes), a holograph, etc.; - an audio reproduction device comprising one or more loudspeakers, a stereophonic device, one or more earphones, in particular headphones, etc.; - etc.

[0064] In the case of an auditory reproduction device ln3, the reproduction device ln3 comprises in particular one or more loudspeakers, a stereophonic device, one or more earphones, in particular a headset, etc. The robot In, in particular its neural stimulator interface, and, in particular, the reproduction device ln3, broadcasts an auditory stimulus st(fn) with the given frequency corresponding to the reproduction of the signal st(fn) with the given frequency. The auditory stimulus st(fn) is perceptible, audible by a user U.

[0065] In the case of a visual reproduction device ln3, the reproduction device ln3 is in particular a 2D, 3D screen, etc., one or more light-emitting diodes or laser (in particular a mosaic of light-emitting diodes), a holograph, etc. The robot In, in particular its neural stimulator-interface, and, in particular, the reproduction device ln3, displays a visual stimulus st(fn) with the given frequency corresponding to the reproduction of the signal st(fn) with the given frequency. The visual stimulus st(fn) is perceptible, visible to a user U.

[0066] In particular, a signal to be reproduced with a given frequency srn Çfn ) is distinct from a signal to be reproduced with another given frequency srjf. ): SFn( fn ) * ) when the other given frequency fn is distinct from the frequency given f: f tf.. JJ fl JJ

[0067] Thus, the risks of confusion by the user between two stimuli resulting from a reproduction of signals of distinct frequencies are limited, further reducing the risks of interaction errors.

[0068] Furthermore, the stimulus for controlling a robot In is then physically associated with the robot In to be controlled since it is broadcast by the robot In itself. The stimulus for controlling the robot In with the given frequency fn therefore comes geographically from the robot In with which this given frequency fn is associated. Consequently, when the swarm of robots {ln]n reproducing the signals or stimuli of frequencies {fn]n is dispersed in space, then the risk of interaction error with the robots is reduced because the user focuses more easily on one of the signals of distinct frequencies due to their distinct locations.

[0069] A neural control architecture of the multi-robot system 1 comprising the robot In as described above further comprises a direct neural interface 2. This direct neural interface 2 is notably carried by a user wishing to interact with one or more of the robots 11... In... IN of the multi-robot system 1 whose robots are capable of reproducing signals with distinct given frequencies, the given frequency being associated with a robot of the multi-robot system.

[0070] The direct neural interface 2 is capable of capturing a neural frequency feeg relative to a user U during a reproduction of signals to be reproduced with given frequencies [sr(f)]. The direct neural interface 2 comprises a transmitter 202 (not shown) of the captured neural frequency feeg via a communication network (not shown).

[0071] In particular, the transmitter 202 of the captured neural frequency is capable of triggering a control of a given robot In associated, during an initialization of the robot In and / or its neural stimulator interface, at the given frequency fn, with a signal st(fn) reproduced by the robot In, respectively its neural stimulator interface, connected to the communication network 3. The emitted neural frequency feeg is a function of the given frequency fn, f\

[0072] In particular, the transmitter 202 of the captured neural frequency is capable of triggering a given command cmdn of a robot In associated, during an initialization of the robot In and / or its neural stimulator interface, with the given frequency fn, of a signal st(fn) reproduced by the robot In, respectively its neural stimulator interface, connected to the communication network 3. The emitted neural frequency feeg is a function of the given frequency fn, / 2

[0073] In particular, the transmitter 202 of the captured neural frequency feeg is capable of triggering an adjustment of a control parameter pn of a robot In of a system multirobots 1 in a given direction drn. The adjustment of the control parameter pn is carried out in a given adjustment direction drn associated with one of the given frequencies fn, signals to be reproduced sr(fn), srn(fn) by a robot In, the given frequency fn, f* associated with the given adjustment direction drn being a given frequency of which the emitted neuronal frequency feeg is a function.

[0074] The neural frequency feeg is more precisely a function of the given frequency fn corresponding to the stimulus st(fn), stn(fn) generated by the reproduction of a signal to be reproduced using the given frequency sr(fn), srn(fn) on which the user U has focused. In particular, the captured neural frequency feeg is a frequency of an evoked potential signal in brain signals sc, such as the electroencephalogram signals, of a user U.

[0075] When the user U focuses on the stimulus st(fn) reproduction with the frequency given fn by the robot In, in particular by its connected neural stimulator interface ln2, a direct neural interface 2 captures a neural frequency feeg relative to the user U. The captured neural frequency feeg and the given frequency fn have the same value.

[0076] In particular, the direct neural interface 2 is implemented in a BCI headset or even an augmented reality headset which then has EEG capabilities, i.e. capabilities for detecting electroencephalogram signals.

[0077] The direct neural interface 2 provides the captured neural frequency feeg via the communication network 3 to the multi-robot system 1, in particular to a controller 10' of the multi-robot system 1. The given robot In as a function of the captured neural frequency is controlled by the multi-robot system 1, in particular by means of its controller 10'. In particular, a given command cmdn, or even a command cmdn of which a parameter pn is set in a given adjustment direction drn, as a function of the captured neural frequency is implemented by the multi-robot system 1, in particular by means of its controller 10'.

[0078] [Fig.2] illustrates a simplified diagram of a multi-robot system according to the invention.

[0079] The multi-robot system 1 comprises: - several robots 11, 12 ... In ... IN capable of reproducing at least one signal st(fn) with a given frequency fn associated with at least one robot In, the given frequency fn associated with the robot In being distinct from the given frequencies associated {fi}with the other robots { of the multi-robot system 1: fn fi, and - a controller 10' capable of controlling at least one determined robot In of the multi-robot system 1 as a function of a neural frequency feeg received from a direct neural interface 2 during reproduction by the robots 11, 12 ... In ... INde signals to be reproduced, { St ( / 1 ) J with distinct given frequencies fn, y1, the received neural frequency feeg being a function of a given frequency fn, among the distinct given frequencies, the given frequency fn, and the determined robot In being associated.

[0080] In particular, the controller 10' is a centralized controller capable of controlling several robots 11, 12 ... In ... IN of the multi-robot system 1.

[0081] In particular, the multi-robot system 1 comprises: - a reproduction interface 103 capable of reproducing at least one signal with a given frequency lb.st(y^),st(y^) among the following: + a second given frequency f3 associated with a control signal cmdn of at least one of the robots In; + a third given frequency f3 associated with a direction of adjustment of a parameter pn of a command cmd, cmdn of at least one of the robots In.

[0082] As an alternative to the centralized controller, the controller 10' is a distributed controller comprising several controllers 110', 120' ... InO' ... 1N0' specific to several robots 11, 12 ... In ... IN of the multi-robot system 1, a controller InO' specific to a robot In, also called a determined robot, of the multi-robot system 1 being capable of triggering a command of the robot In as a function of a neural frequency received fecg from a direct neural interface 2 during a reproduction by the robots 11, 12... In... IN of signals to be reproduced {st(f ) ] . {^( / 01 with distinct given equations fn, f1, the received neural frequency feeg being a function of a given frequency fn, f* among the distinct given frequencies, the given frequency fn, f1 and the determined robot In being associated. J n

[0083] In the case of a centralized architecture, the multi-robot system 1 comprises, in particular, a robot manager 10 capable of controlling at least one determined robot In of the multi-robot system 1 as a function of a neural frequency feeg received from a direct neural interface 2 during reproduction by the robots 11, 12 ... In ... IN of signals to be reproduced y )} J with frequencies distinct data fn, y^, the received neural frequency feeg being a function of a given frequency fn, y^ among the distinct given frequencies, the given frequency fn, y' and the determined robot In being associated. In particular, the robot manager 10 comprises the controller 10'.

[0084] In particular, in the case of a centralized architecture, the robot In, in particular its neural stimulator interface, is distinct from the robot manager 10 and the controller 10'.

[0085] Optionally, in the case of a centralized architecture, the robot manager 10 and / or the robot controller 10' connected to a communication network 3 to which several robots 11... In and the multi-robot system 1 are also connected, is used to implement the invention. The communication network 3 is a remote or local, domestic network.

[0086] In particular, in the case of a centralized architecture, the robot In is connected in a multi-robot system 1, in particular by means of a network such as a network configured for the Internet of Things, or loT for “Internet of Things” in English, managed by the robot manager 10 and / or the controller 10'. The network of the multi-robot system 1 is in particular associated with a specific location, such as the user's home, a workshop and / or a company building...

[0087] In particular, either a robot manager 10, or several robots In, respectively comprises a coupler 105 capable of associating a given frequency fn of a signal st(fn) reproduced by a robot In and / or a neural stimulator interface ln2 of a robot In connected to the communication network 3 to the robot In, and / or to a given command cmdn of a robot In of the multirobot system 1, and / or to a given adjustment direction drn of a given parameter pn of a command cmd, cmdn of a robot In. In the case where several robots comprise the coupler 105, the coupler 105 is a distributed coupler comprising several couplers specific to each robot of the multirobot system: namely that a robot In comprises its own coupler ln05' (not illustrated).

[0088] In particular, the robot manager 10 and / or the controller 10' and / or the coupler 105, ln05' comprises a storage device 101, 1021, 1051, of pairs of given data frequencies-given robots (fi, li)i=i...n...N; and / or of pairs of given data frequencies-given commands (fi, cmdj.-in.x, (fi, cmd;( 1 i))i=i...n...N; and / or of pairs of given data frequencies-given command parameter adjustment directions (fi, dr; (Pi))i=i...n...N, (fi, cmdi(li,pi))i=i...n...N. The storage device 101, 1021, 1051 is a memory, a base of given frequencies, etc.

[0089] Alternatively, not only the controller 10', but also the storage device 101 is distributed in the robots of the multi-robot system 1, in particular in the form of specific controllers InO' and specific storage device InOl' (not illustrated). For example, the robots are capable of receiving the direct neural frequency. And, possibly, each robot comprises a device for storing the pairs of data frequencies associated with this robot, and / or the pairs of data frequencies-commands given from this robot and / or the pairs of data frequencies-directions setting data of command parameters given to this robot. Thus, each robot is configured to recognize the natural frequencies, that is to say the frequencies associated with it. In particular, the user configures the robot beforehand to recognize its natural frequencies.

[0090] In particular, the coupler 105 comprises a recorder (not illustrated) capable of storing the given frequency - given component pair (the given component cpn being: given robot In and / or given command cmdn and / or given command parameter pn) (cpn,fn), in particular in a storage device 101, 1021, 1051 of the robot manager 10 and / or the controller 10'.

[0091] In particular, the robot manager 10 and / or the controller 10' is able to control the multi-robot system 1, more precisely a robot In of the multi-robot system 1 as a function of a neural frequency received feeg from a direct neural interface 2 as soon as the user U of the direct neural interface 2 performs an action relating to a reproduction of a signal st(fn) with a given frequency fn by the robot In. The action performed by the user U is in particular to listen to the auditory stimulus st(fn) or to look at the visual stimulus st(fn) resulting from the reproduction of a signal with the given frequency fn.

[0092] In particular, the robot manager 10 and / or the controller 10' comprises a communication interface 100 capable of receiving a neural frequency feeg from the direct neural interface 2. In particular, the communication interface 100 comprises a receiver 1001 capable of receiving the neural frequency feeg from the direct neural interface 2.

[0093] In particular, the robot manager 10 and / or the controller 10' comprises an analyzer 1022 capable of determining a given robot In, and / or a given command cmdn of the robot In and / or an adjustment direction drn of a parameter pn of a command cmd, cmdn of the robot In as a function of a neural frequency received feeg from a direct neural interface 2 during a reproduction by the robot In and / or its neural stimulator interface ln2 of a signal st(fn) with the given frequency fn associated respectively with the given robot In, with the given command cmdn, with the adjustment direction drn of a command parameter pn.

[0094] In particular, the communication interface 100, or even the receiver 1001, provides the analyzer 1022 with the neural frequency feeg received from the direct neural interface 2.

[0095] In particular, the analyzer 1022 requests from the storage device 101, 1021, 1051 the given robot In, the given command cmdn, the given adjustment direction drn of a given control parameter pn associated with a given frequency fn, / 3 corresponding to the received neural frequency feeg and respectively provides a command cmd to the given robot In, and / or the given command cmdn to destination of the given robot In and / or the given adjustment direction drn of a given control parameter pn to the given robot In.

[0096] In particular, the robot manager 10 and / or the controller 10' comprises a transmitter 1002 capable of transmitting to the robots of the multi-robot system. The transmitter 1002 transmits a command cmd, in particular a given command cmdn associated with a given frequency fn, corresponding to the received neural frequency feeg, possibly with a given parameter pn set in a given adjustment direction drn associated with a given frequency fn, corresponding to the received neural frequency feeg, to a given robot In associated with a given frequency fn, corresponding to the received neural frequency feeg.

[0097] In particular, the communication interface 100 is capable of transmitting to the robots of the multi-robot system, the transmitter 1002 transmitting, to a given robot In associated with a given frequency fn, f* corresponding to the received neural frequency feeg, a command cmd, in particular a given command cmdn associated with a given frequency fn, f3 corresponding to the received neural frequency feeg, possibly with a given parameter pn set in a given adjustment direction drn associated with a given frequency fn, f3 corresponding to the received neural frequency feeg. In particular, the communication interface 100 comprises a transmitter 1002 capable of transmitting to the robots.

[0098] In particular, the analyzer 1022 provides information relating to the given robot In, and / or the given command cmdn and / or the given adjustment direction drn of a given command parameter pn to the transmitter 1002.

[0099] Optionally, the robot manager 10 and / or the controller 10' comprises a trigger 102 capable of initiating the implementation and / or execution, by the given robot In, of a command, possibly a given command cmdn, in particular with a given parameter pn set in a given adjustment direction, associated with a given frequency fn, f3, corresponding to the received neuronal frequency feeg: cmdn (feeg=fn).

[0100] In a first architecture, a first robot manager 10i comprises the coupler 105 and a second robot manager 102 comprises the controller 10'.

[0101] Alternatively, in a second architecture illustrated by [Fig.2], a robot manager 10 comprises the coupler 105 and the controller 10'. In particular, the robot manager 10 comprises: - the coupler 105 of given frequency fn of a signal st(fn) reproduced by the robot In to a given robot In and / or a given command cmdn of the given robot In, and / or a given adjustment direction drn of a given command parameter pn of a command cmd, cmdn of the given robot In, and - the controller 10' of robots according to a neural frequency received feeg from a direct neural interface 2 during a reproduction of the signal st(fn) at the given frequency fn by the robot In.

[0102] In particular, the transmitter, also called communication interface 100, of the robot manager 10 and / or of the controller 10' is capable of exchanging a signal i(fn), sr(fn) relating to the given frequency fn with the robot In, in particular its neural stimulator interface ln2.

[0103] In particular, the signal relating to the given frequency fn is one of the following signals: - an indication signal i(fn) of the given frequency fn emitted by the robot manager 10 and / or the controller 10' to the robot In, in particular its neural stimulator interface ln2; - a signal sr(fn) to be reproduced with the given frequency fn generated by the robot manager 10 and / or the controller 10' and emitted by the robot manager 10 and / or the controller 10' to the robot In, in particular its neural stimulator interface ln2; - an indication signal i(fn) of the given frequency fn emitted by the robot In, in particular its neural stimulator interface, intended for the robot manager 10 and / or the controller 10'.

[0104] In particular, the transmitter 100 comprises a transmitter 1002 of the signal relating to the given frequency fn intended for the robot In, in particular its neural stimulator interface.

[0105] In particular, the transmitter 100 comprises a receiver 1001 signal indicating the given frequency i(fn) coming from the robot In, in particular its neural stimulator interface.

[0106] In particular, the robot manager 10 and / or the controller 10' comprises a generator 1024 of a signal to be reproduced sr(fn) with a given frequency fn. The signal to be reproduced thus generated sr(fn) is in particular capable of being reproduced by a robot In, in particular by its neural stimulator interface. In particular, the generator provides the generated signal to be reproduced sr(fn) possibly with an identifier of the recipient robot idn to the transmitter 100, in particular to the transmitter 1002.

[0107] In particular, the robot In, and therefore its neural stimulator-interface, on the one hand, and the robot manager 10 and / or the controller 10' of the multi-robot system 1, on the other hand, are two distinct devices in that the robot In, in particular its neural stimulator-interface, and the robot manager 10 and / or the controller 10' are separate. By robot In or neural stimulator-interface ln2 distinct from the manager of robots 10 and of the controller 10' is understood in particular the fact that the robot manager 10 and the controller 10' does not include, does not implement the robot In, in particular its neural stimulator interface.

[0108] In a particular embodiment, the robot manager 10 and / or the controller 10' comprises a reproduction interface 103 capable of reproducing st(fn) signals whose given frequency is associated with a given command and / or a given adjustment direction of a given parameter. The given command and the given adjustment direction of a given parameter associated with the frequency of the stimulus (or stimuli) reproduced by the robot manager 10 and / or the controller 10' is possibly specific to a given robot In or common to several robots of the multi-robot system 1. Optionally, the robot manager 10 and / or the controller 10' comprises a neural stimulator interface 103 capable of reproducing st(fn) signals whose given frequency is associated with a given command and / or a given adjustment direction of a given parameter.The given command and the given adjustment direction of a given parameter associated with the frequency of the stimulus (or stimuli) reproduced by the robot manager 10 and / or the controller 10' is possibly specific to a given robot In or common to several robots of the multi-robot system 1. For example, the neural stimulator interface 103 of the robot manager 10 and / or the controller 10' comprises, for this purpose, an interface for reproducing signals of given frequencies st(fn).

[0109] A robot manager 10 and / or a controller 10' connected to a communication network 3 comprises an actuator 102 capable of controlling a given robot In of the multi-robot system 1 as a function of at least one command, in particular a given command cmdn, of which possibly a given parameter pn is adjusted in a given adjustment direction drn, for example provided by a robot manager 10 and / or a controller 10'. The given robot In and / or the given command cmdn and / or the given adjusted parameter pn is (are) a function of a neural frequency emitted feeg by a direct neural interface 2 during a reproduction of a signal st(fn) with a given frequency fn by a robot In, in particular its neural stimulator interface ln2. The emitted neural frequency feeg is a function of the given frequency fn.

[0110] In particular, the robot 10 comprises an effector (not illustrated), for example a processor capable of executing a processing operation as a function of at least one command.

[0111] In particular, the robot In comprises a control interface (not illustrated) capable of receiving a given command from a robot manager 10 and / or a controller 10' via the communication network 3 as a function of a neural frequency feeg received from a direct neural interface 2 during a reproduction of a signal st(fn) with a frequency given fn by the robot In, in particular by its neural stimulator interface ln2. The received neural frequency feeg is a function of the given frequency fn.

[0112] In particular, the direct neural interface 2 is capable of being connected to a robot manager 10 and / or a controller 10' of the multi-robot system 1.

[0113] In particular, a direct neural interface 2 is capable of providing a captured neural frequency feeg during a reproduction of a signal st(fn) with a given frequency fn. The direct neural interface 2 comprises a communication interface 200 capable of being connected to a robot manager 10 and / or a controller 10'. The communication interface 200 is capable of transmitting to the robot manager 10 and / or the controller 10' the captured neural frequency feeg during a reproduction of a visual signal st(fn) with a given frequency fn by the robot In, in particular by its neural stimulator interface ln2.

[0114] In particular, the communication interface 200 is connected to the robot manager 10 and / or the controller 10', in particular via the communication network 3.

[0115] In particular, the robot manager 10 and / or the controller 10' transmits, in particular by means of a transmitter 100 and / or more particularly a transmitter 1002, to the robot In, in particular to its neural stimulator interface ln2 a signal to be reproduced with the given frequency sr(fn) or an indication signal of the given frequency i(fn). The signal to be reproduced with the given frequency sr(fn) emitted by the robot manager 10 and / or the controller 10' being possibly generated by the robot manager 10 and / or the controller 10', in particular by a signal generator 1024.

[0116] In particular, the reproduction device ln3 of the robot In, in particular its neural stimulator interface ln2 reproduces the signal with the given frequency st(fn), in particular after receiving the signal to be reproduced with the given frequency sr(fn) or an indication signal of the given frequency i(fn), in particular by means of a receiver (not shown). Optionally, the robot In, in particular its neural stimulator interface ln2 1, or even, for example, a visual signal generator (not shown) of the robot In, is capable of generating the signal to be reproduced with the given frequency sr(fn) as a function of the indication signal of given frequency i(fn) received from the connected object manager 10 or the controller 10'.

[0117] Optionally, the robot In receives from a robot manager 10 and / or a controller 10', in particular from an analyzer 10222, in particular implemented in the robot manager 10 and / or the controller 10', as a function of the neural frequency emitted by the direct neural interface 4 and of the pair associating a given frequency and: a given robot (fn,cmdn) and / or a given command (fn,cmdn) and / or a parameter

[0118]

[0119]

[0120]

[0121]

[0122]

[0123] given set in a given setting direction (fn,pn), a command intended for the given robot In, or even the given command cmdn, the given parameter pn. [Fig.3] illustrates a simplified diagram of the exchanges during the implementation of a method for controlling robots of a multi-robot system according to the invention. The method for controlling BCNT robots of a MBS multi-robot system comprising: - controlling BCMD a determined robot Bn of the MBS multi-robot system as a function of a neural frequency feeg received from a direct neural interface BI during reproduction by robots BI...Bn of signals to reproduce [st(f H , M f1 H Asti f2]], W f3 H with given frequencies distinct fn, f1 f2 f3, the received neuronal frequency feeg being a function of a given frequency fn, ff f2 f3 among the distinct given frequencies, the frequency J tf J n' J n given fn, f1 f2 f3 and the determined robot Bn being associated. In particular, the BCMD control of the determined robot Bn is carried out by means of a control signal cmdn determined as a function of a neural frequency feeg received from a direct neural interface BI during a reproduction of signals to be reproduced with distinct given frequencies | • 'a received neural frequency feeg being a function of a given frequency fn, f2 f3 among the distinct given frequencies, the given frequency fn, f2 f3 and the determined command signal J tf J n cmdn being associated. In particular, the BCNT control method includes: - adjust RG a control parameter pn of a robot in an adjustment direction dr among several distinct adjustment directions, as a function of a neural frequency feeg received from a direct neural interface BI during a reproduction of signals to be reproduced with distinct given frequencies | ( / 3 ) | ' 'a received neural frequency feeg being a function of a given frequency fn, y3 among the distinct given frequencies, the given frequency fn, f3 and the determined control signal cmd(pn), cmdn(pn) being associated. Optionally, the BCMD command includes the command parameter RG setting. In particular, the BCNT control method comprises at least one first DTI determination among the following determinations depending on at least one first received neural frequency y1: - determine a robot to control DTI = B DT; - determine a command of the robot determined DTI = CDT; - determining a control setting parameter of the determined robot DTI = PDT.

[0124] In the case where the controller method is implemented by a robot manager or a centralized controller of the multi-robot system, also called centralized control, the control determination determines the command to be sent to the determined robot by means of a control signal.

[0125] In the case where several robots of the multi-robot system implement a control method according to the invention, also called distributed control, the determination of the robot to be controlled implemented by a robot makes it possible to determine, as a function of the received neural frequency, whether the robot implementing the control method is the one to be controlled.

[0126] In the case where several robots of the multi-robot system implement a control method according to the invention, the command determination determines the command to be implemented by the determined robot.

[0127] In particular, the BCNT control method comprises, following the first determination DTI as a function of the first received neuronal frequency ey1, a second determination DT2 as a function of at least one second neuronal frequency f2 received after the first received neuronal frequency: - determine a command of the robot determined DT2 = CDT; - a determination of the robot control adjustment parameter determined DT2 = PDT.

[0128] In particular, the BCNT control method comprises, following the second determination DT2 as a function of the second neuronal frequency y2 received, a third determination DT3 as a function of at least one third neuronal frequency f2, received after the second neuronal frequency received: - determine a control setting parameter determined by the robot determined DT3 = PDT.

[0129] In particular, the BCNT control method is implemented by a robot manager BG of the MBS multi-robot system in the case of centralized control, or even a centralized or distributed controller (not shown) of the MBS multi-robot system. The robot manager BG of the MBS multi-robot system notably comprises the controller in the case of centralized control.

[0130] In particular, a method implemented by the robot manager BG, or even the controller, or a robot Bn comprises: activating BI_ACT an RPR reproduction of a signal st(fn) with a given frequency fn, in particular implemented by a robot Bn, possibly by a neural stimulator interface of the robot Bn. In particular, the BCNT control process implemented by the BG robot manager, or even the controller, includes the BI_ACT activation.

[0131] A BnST stimulation method, in particular implemented by the robot Bn, respectively the neural stimulator-interface of the robot Bn, comprises: reproducing RPR a signal st(fn) with a given frequency fn.

[0132] In particular, the BnST stimulation method comprises, prior to the RPR reproduction: generating SR_GN a signal to be reproduced sr(fn) with a given frequency fn notably indicated in the indication signal i(fn) coming from the BI_ACT activation.

[0133] A GST stimulation method, in particular implemented by the robot manager BG or the controller, respectively the neural stimulator interface of the manager BG, comprises: reproducing RPR a signal st(fn) with a given frequency fn associated with a given command and / or a given adjustment direction of a control parameter specific to a robot Bn previously selected by the user by means of the neural interface BI or common to several robots Bl...Bn.

[0134] In particular, the GST stimulation method of the manager comprises, prior to the RPR reproduction: generating SR_GN a signal to be reproduced sr(fn) with a given frequency fn notably indicated in the indication signal i(fn) coming from the BI_ACT activation.

[0135] Optionally, the BCNT control method comprises the GST stimulation method by the B G manager.

[0136] In particular, the activation method BI_ACT and / or the electronic equipment control method BCNT comprises, prior to triggering an RPR reproduction of a signal with a given frequency st(fn): searching FN_RTV for given frequencies associated with the robots B1.. .Bn, and possibly with their commands and / or with directions for adjusting parameters of their commands. In particular, searching for given frequencies FN_RTV, in particular in a storage device such as a frequency base BDF, for example the frequency base of figures 1 and / or 2.

[0137] In particular, the BI_ACT activation method and / or the BCNT electronic equipment control method comprises, prior to triggering reproduction RPR of a signal with a given frequency st(fn): a generation SR_GN of signal to be reproduced sr(fn) with a given frequency fn found, in particular indicated in the indication signal i(fn) coming from a TRG triggering of the BI_ACT activation method implemented by the robot manager BG, or even the controller.

[0138] Optionally, the search for FN_RTV frequencies or more generally the BI_ACT activation is triggered by an activation command bcic_on or a wake-up command bcic_wk of BI.. .Bn robots, or even of neural stimulator interfaces of BI.. .Bn robots, of the MBS multi-robot system.

[0139] For example, a status check of the MBS_ST multi-robot system determines whether the MBS multi-robot system transitions from an "off" or "disabled" status to an "on" or "enabled" status.

[0140] When a transition from the "off" or "deactivated" status to an "on" or "activated" status is detected [ON] by this MBS_ST? verification, then the MBS_ST? verification issues an activation command bcic_on. The activation command bcic_on possibly includes the list of commands providing a list of commands {cmdj^in N capable of being implemented by the MBS multi-robot system. The action command bcic_on triggers the activation BI_ACT of an RPR reproduction of a signal st(fn) with a given frequency fn.

[0141] When a transition from the "standby" status to an "on" or "activated" status is detected [WK] by this MBS_ST? check, then the MBS_ST? check issues a bcic_wk wake-up command. The bcic_wk wake-up command triggers the activation BI_ACT of an RPR reproduction of a signal st(fn) with a given frequency fn.

[0142] In particular, the method for controlling electronic equipment BCNT comprises, after triggering TRG of reproduction of a signal with a given frequency st(fn): controlling BCMD a given robot Bn by means of a command, in particular a given command cmdn, and / or with a given parameter pn set in a given adjustment direction, depending on a captured neural frequency feeg coming from a direct neural interface BI during the reproduction RPR of the signal with a given frequency st(fn) by a robot Bn and / or a neural stimulator interface of the robot Bn.

[0143] In particular, the method for controlling electronic equipment BCNT comprises, after triggering TRG of reproduction of a signal with a given frequency st(fn) and prior to the BCMD command of the robot Bn: determining CCDT a characteristic of a command of a robot of the multi-robot system MBS, in particular the robot receiving the BDT command, the CDT command, and / or a parameter of a PDT command, as a function of a captured neural frequency feeg coming from a direct neural interface BI during the reproduction RPR of the signal with a given frequency st(fn) by a robot Bn or a neural stimulator interface of a robot Bn. The determination of a characteristic of a CCDT command comprises: searching in a storage device such as the frequency base BDF.

[0144] In particular, a neural interaction method BI_INT provides the captured neural frequency feeg coming from a direct neural interface BI during the reproduction RPR of the signal with a given frequency st(fn) by a robot Bn or a neural stimulator interface of the robot Bn.

[0145] The BI_INT neural interaction method is notably implemented by the direct BI neural interface.

[0146] In particular, a neural frequency detection EEG_DTC provides, during the RPR reproduction of the signal with a given frequency st(fn) by a robot Bn or a neural stimulator interface of the robot Bn, the captured neural frequency. The neural frequency detection is notably activated by an action of the user U of the direct neural interface BI such that the user U concentrates on (looks at, listens to, etc.) the stimulus v(fn) resulting from the RPR reproduction of a signal with the given frequency st(fn).

[0147] In particular, the BI_INT neural interaction method comprises the detection of EEG_DTC neural frequency.

[0148] In particular, a captured neural frequency emission EM transmits to the electronic equipment control method BCNT the neural frequency feeg captured during the reproduction RPR of the visual signal with a given frequency st(fn) by a robot Bn or a neural stimulator interface of the robot Bn. In particular, the captured neural frequency feeg emitted by the EM emission is provided by the neural frequency detection EEG_DTC.

[0149] In particular, the BI_INT neuronal interaction method comprises the emission of captured neuronal frequency EM.

[0150] In particular, the command cmd intended for the given robot Bn and / or the given command cmdn and / or the given command parameter pn triggers: executing BX by the robot Bn, in particular executing a given processing XE. Optionally, the execution BX by the robot Bn includes the execution of the given processing XE.

[0151] In particular, the BCMD control method comprises: controlling PLT the BX execution by the robot Bn, in particular as a function of the parameter set by the RG setting either of the BCMD control method or of the BX execution method.

[0152] In particular, the method of execution BX by the robot Bn comprises: - adjust RG a control parameter pn of the robot Bn in an adjustment direction dr among several distinct adjustment directions, according to a neural frequency feeg received from a direct neural interface BI during a reproduction of signals to be reproduced with distinct given frequencies, 'a frequency neuronal feeg received being a function of a given frequency fn, f3 among the frequencies separate data, the given frequency fn, f3 and the determined control signal cmd(pn), cmdn(pn) being associated.

[0153] In a particular embodiment taken alone or in combination with the other embodiments described, the BCNT control method makes it possible to control the RPR reproduction by the robots B1.. .Bn of stimuli that are distinct in frequency. A single robot Bn can broadcast one or more stimuli. In the case of a single stimulus per robot, this allows the user to command a single operation (also called processing) by the robot on which he will have concentrated. However, in the case of a robot broadcasting several stimuli, associated in particular with different robot commands and / or different directions of robot control parameter settings, this allows the user to command different operations: activation, movement, etc. or even different settings of an operation in progress: change of speed, direction, etc. of movement; etc.

[0154] In another particular embodiment taken alone or in combination with the other embodiments described, the BCNT control method makes it possible to control the reproduction RPR by a BG robot manager of stimuli distinct in frequency associated in particular with different commands of one or more robots and / or different directions of control parameter settings of the robot(s). Thus, initially, the user concentrates on a stimulus emitted by a robot Bn to select it then on a stimulus emitted by the BG manager to command an operation among different operations: activation, movement, etc. or even an adjustment among different settings of an operation in progress: change of speed, direction, etc. of movement; etc.

[0155] One embodiment of the BCNT control method is a program comprising program code instructions for executing the steps of the described robot control method of a multi-robot system when said program is executed by a processor.

[0156] The invention also relates to a medium. The information medium may be any entity or device capable of storing the program. For example, the medium may comprise a storage means, such as a ROM, for example a microelectronic circuit ROM or a magnetic recording means, for example a USB key, an SD card, a hard disk, etc.

[0157] On the other hand, the information medium may be a transmissible medium such as an electrical or optical signal which may be conveyed via an electrical or optical cable, by radio or by other means. The program according to the invention may in particular be downloaded from a network, in particular of the Internet type.

[0158] Alternatively, the information carrier may be an integrated circuit in which the program is incorporated, the circuit being adapted to execute or to be used in the execution of the method in question.

[0159] In another implementation, the invention is implemented by means of software and / or hardware components. In this regard, the term module can correspond to either a software component or a hardware component. A software component corresponds to one or more computer programs, one or more sub-programs of a program, or more generally to any element of a program or software capable of implementing a function or a set of functions according to the description above. A hardware component corresponds to any element of a hardware assembly capable of implementing a function or a set of functions.

[0160] The invention thus proposes to control several robots of a multi-robot system by analyzing brain signals sc, in particular the EEG electroencephalogram of a user. Several robots (in particular the active robots), or even each robot emits a stimulus, in particular an auditory one, at a certain frequency.

[0161] The robots comprise in particular an effector, such as a processor or an electronic card, and a sound or auditory reproduction interface such as a buzzer and / or a loudspeaker connected to the effector. The sound reproduction interface allows the robots to emit a sound or a series of sounds (in particular several stimuli or a stimulus associated with a specific series of frequencies).

[0162] The frequencies of the different stimuli emitted are distinct. Depending on the position of the robots, the stimuli come from distinct locations. Thus, each stimulus is associated at least with a distinct robot, or even with a distinct action on a distinct robot. The user can thus control a specific robot by concentrating on the stimulus emitted by this robot, or even command a specific action of this robot by concentrating on a specific stimulus emitted by this robot.

[0163] By observing the user's brain signals, the frequency of the stimulus on which the user is focusing is identifiable, thus making it possible to control the desired robot, in particular to trigger the desired action. For example, the direct neural interface comprises several electrodes capable of being arranged on the user's skull. The direct neural interface is in particular capable of measuring the user's brain activity or one or more brain signals.

[0164] Thus, when the user concentrates on a stimulus, in particular a sound, it is possible to find the frequency of the stimulus on which he concentrates by analyzing the brain signals of the user and thus to control the robot emitting the stimulus, in particular to activate it, deactivate it, control a specific movement of this robot, etc.

[0165] In certain configurations, the robot can request validation, be stopped by the user, wait for a task to be assigned to it or even activate certain of its functions (use / stop robot effectors, move, activate / deactivate robot sensors, trigger the execution of a processing operation, in particular an algorithm, such as object detection, etc.).

[0166] This solution has the double advantage of freeing the user's hands, but also of accelerating the process of controlling a robot in a multi-robot system.

Claims

Claims

1. Robot of a multi-robot system capable of reproducing at least one signal with a given frequency associated at least with the robot, the given frequency associated with the robot being distinct from the given frequencies associated with the other robots of the multi-robot system.

2. Robot according to the preceding claim, in which the given frequency is one of the following: - a first given frequency associated with the robot; - a second given frequency associated with a control signal of the robot; - a third given frequency associated with a direction of adjustment of a parameter of a control of the robot.

3. Robot according to the preceding claim, in which the reproduced signal is one of the following: - an auditory signal; - a visual signal.

4. Robot according to one of the preceding claims, the robot comprising a specific controller capable of triggering a command of the robot as a function of a neural frequency received from a direct neural interface during a reproduction by the robots of signals to be reproduced with distinct given frequencies, the received neural frequency being a function of a given frequency among the distinct given frequencies, the given frequency and the determined robot being associated.

5. Multi-robot system comprising: - several robots capable of reproducing at least one signal with a given frequency associated with at least one robot, the given frequency associated with the robot being distinct from the given frequencies associated with the other robots of the multi-robot system, and - a controller capable of controlling at least one determined robot of the multi-robot system as a function of a neural frequency received from a direct neural interface during reproduction by the robots of signals to be reproduced with distinct given frequencies, the received neural frequency being a function of a given frequency among the distinct given frequencies, the given frequency and the determined robot being associated.

6. A multi-robot system according to the preceding claim, wherein the controller is a centralized controller capable of controlling several robots of the multi-robot system.

7. Multi-robot system according to the preceding claim, the multi-robot system comprising: - a reproduction interface capable of reproducing at least one signal with a given frequency among the following: + a second given frequency associated with a control signal of at least one of the robots; + a third given frequency associated with a direction of adjustment of a parameter of a control of at least one of the robots.

8. Multi-robot system according to claim 5, in which the controller is a distributed controller comprising several controllers specific to several robots of the multi-robot system, a controller specific to a robot of the multi-robot system being able to trigger a command of the robot as a function of a neural frequency received from a direct neural interface during a reproduction by the robots of signals to be reproduced with distinct given frequencies, the received neural frequency being a function of a given frequency among the distinct given frequencies, the given frequency and the determined robot being associated.

9. Method for controlling robots of a multi-robot system comprising: - controlling a determined robot of the multi-robot system as a function of a neural frequency received from a direct neural interface during reproduction by the robots of signals to be reproduced with distinct given frequencies, the received neural frequency being a function of a given frequency among the distinct given frequencies, the given frequency and the determined robot being associated.

10. Method for controlling robots of a multi-robot system according to the preceding claim, in which the control of the determined robot is carried out by means of a control signal determined as a function of a neural frequency received from a direct neural interface during a reproduction of signals to be reproduced with distinct given frequencies, the received neural frequency being a function of a given frequency among the distinct given frequencies, the given frequency and the determined control signal being associated.

11. Method for controlling robots of a multi-robot system according to one of claims 9 or 10, the control method comprising: - adjusting a control parameter of a robot in an adjustment direction among several distinct adjustment directions, as a function of a neural frequency received from a direct neural interface during a reproduction of signals to be reproduced with distinct given frequencies, the received neural frequency being a function of a given frequency among the distinct given frequencies, the given frequency and the determined control signal being associated.

12. Method for controlling robots of a multi-robot system according to one of claims 9 to 11, the control method comprising at least a first determination among the following determinations depending on at least a first neural frequency received: - determining a robot to be controlled; - determining a command of the determined robot; - determining a parameter for adjusting the command of the determined robot.

13. Method for controlling robots of a multi-robot system according to the preceding claim, the control method comprising, following the first determination as a function of the first neural frequency received, a second determination as a function of at least one second neural frequency received after the first neural frequency received: - determining a command of the determined robot; - a determination of the adjustment parameter of the command of the determined robot.

14. Method for controlling robots of a multi-robot system according to the preceding claim, the control method comprising, following the second determination as a function of the second neural frequency received, a third determination as a function of at least a third neural frequency received after the second neural frequency received: - determining a determined control adjustment parameter of the determined robot.

15. A program comprising program code instructions for executing the steps of the method for controlling robots of a multi-robot system according to any one of claims 9 to 14 when said program is executed by a processor.

Images