Robot of a multi-robot system, multi-robot system including same, method for controlling robots of a multi-robot system

Abstract

The present invention relates to a multi-robot system and to 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 with at least the robot, the given frequency associated with the robot being separate from the given frequencies associated with the other robots of the multi-robot system, the robot being able to be controlled by the multi-robot system if a neural frequency received from a direct neural interface is the given frequency associated with the robot when the robots reproduce signals to be reproduced with separate given frequencies, the received neural frequency being dependent on a given frequency among the separate given frequencies. Thus, depending on the frequency of the stimulus on which the user / operator focuses, they control a robot associated with this frequency in a neural manner.

Description

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

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

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

[0003] Despite their autonomy, it remains essential that the user can control them and influence their decisions, particularly 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, robot management currently relies primarily on manual controls. The user controls the robots using 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.

[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, the robot being capable of being controlled by the multi-robot system if a neural frequency received from a direct neural interface is the given frequency associated with the robot 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.

[0008] Thus, depending on the frequency of the stimulus on which the user / operator is focusing, he / she controls a robot associated with this frequency in a neural 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 control.

[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 robot control signal, respectively with a direction of adjustment of a robot control parameter. This avoids robot control errors, when several signals are reproduced by the same robot.

[0013] In addition, an auditory signal can 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 robot command when it recognizes a frequency associated with it. The architecture is then distributed, reducing the command delays associated with 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 focuses, he commands 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 in 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 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.

[0021] Thus, the robots only reproduce signals with frequencies that allow the user to determine which robot in the multi-robot system the user wants to control. This limits the risk of errors in controlled robots due 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 parameter settings 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] This reduces order times since the robots directly receive the neural frequencies that allow them to be controlled.

[0025] One aspect of the invention is also a 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.

[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 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.

[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 be controlled; - determine a command of the determined robot; - determine a parameter for adjusting the command of the determined robot.

[0029] Advantageously, the control method comprises, 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.

[0030] Advantageously, the control method comprises, 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 setting parameter of the determined control of the determined 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 being designed to control the execution of the different steps of this method.

[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 code intermediate between source code and object code, such as in a partially compiled form or in any other desirable form.

[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] , a simplified diagram of a robot of a multi-robot system according to the invention,

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

[0037] , a simplified diagram of the exchanges during the implementation of a method for controlling robots of a multi-robot system according to the invention.

[0038] A robot is understood to mean a machine or device capable of moving and / or manipulating objects and / or performing operations.

[0039] A multi-robot system is understood to mean a system comprising a set of robots and capable of controlling, by means of a user interface, one or more robots from the set of robots in the multi-robot system. Thus, a multi-robot system allows a single user to control robots from all the robots in the multi-robot system.

[0040] Illustrates a simplified diagram of a robot of a multi-robot system according to the invention.

[0041] A robot 1n 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 1n being distinct from the given frequencies associated to other robots of the multi-robot system 1: fn ≠ fi. The robot 1n is able to be controlled by the multi-robot system 1 if a received neural frequency f eegof a direct neural interface 2 is the given frequency fn associated with the robot 1n during a reproduction by the robots 11, 12 … 1n … 1N 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.

[0042] In particular, the given frequency fn is one of the following frequencies:- a first given frequency associated with the robot 1n; - a second given frequency associated with a cmd control signal n of the robot 1n;- a third given frequency associated with a dr adjustment direction n of a parameter p n of a cmd command, cmd n of the 1n robot.

[0043] By data is understood in particular defined, fixed, determined. Possibly, a given frequency f n and a given robot 1n, a given control signal cmd n, a given adjustment direction dr n correspond respectively to a frequency, a robot, a control signal, a chosen adjustment direction, for example during the manufacture of the multi-robot system 1 comprising the robot 1n, during the integration of the robot 1n into the multi-robot system 1, or by the user U.

[0044] The association of a given frequency with a robot 1n of the multirobot system 1, respectively a control signal cmd n of a 1n robot of the multirobot system 1, or a dr adjustment direction n of a parameter p n of a cmd command, cmd n of a robot 1n of the multi-robot system 1 being carried out during an initialization of the robot 1n, or even of the multi-robot system 1 comprising the robot 1n.

[0045] A direction of adjustment of a control parameter may 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.

[0046] In particular, the robot 1n comprises a controller 1n0' (not shown) capable of triggering a command from the robot 1n, also called a determined robot, as a function of a received neural frequency f ecg of a direct neural interface 2 during reproduction by robots 11, 12 … 1n … 1N of signals to be reproduced with distinct given frequencies fn, , the neuronal frequency f eeg received being a function of a given frequency fn, among the given distinct frequencies, the given frequency fn, and the determined robot 1n being associated.

[0047] .

[0048] Thus, the robot 1n is able, by means of the controller 1n0', to identify, upon receipt of a received neural 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.

[0049] In particular, the reproduced signal st is one of the following:- an auditory signal;- a visual signal.

[0050] 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 a 1n2 neural interface-stimulator (not in the same room, or positioned with his back to the neural interface-stimulator, etc.), etc. The robot includes in particular a neural interface-stimulator 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 a 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.

[0051] In particular, the robot 1n 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 1n is connected to the communication network 3 via a wireless local area network such as Wifi, Bluetooth, Lora, etc.

[0052] In particular, the pairs formed by the association of a given frequency f n to a 1n robot: , or to a given cmd command n of a 1n robot of a 1 multi-robot system , or to a dr adjustment direction n of a parameter p n of a cmd command, cmd n of a 1n robot: 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 the).

[0053] In an alternative embodiment in which the architecture is not a centralized architecture, the controller 10' is made up of 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.

[0054] In particular, a robot 1n comprises a neural stimulator interface 1n2 (not shown) capable of reproducing a signal st(fn) with a given frequency fn. Optionally, the neural stimulator interface 1n2 is connected to a communication network 3 to which the multi-robot system 1 is connected. Thus, the neural stimulator interface 1n2 of the robot 1n is capable of reproducing at least one signal st(fn) with a given frequency fn from among the following: - a first given frequency associated with the robot 1n; - a second given frequency associated with a cmd control signal n of the robot 1n;- a third given frequency associated with a dr adjustment direction n of a parameter p n of a cmd command, cmd n of the 1n robot.

[0055] The 1n robot, in particular its 1n2 neural stimulator interface, includes a 1n01 receiver (not illustrated) capable of receiving:

[0056] - either an indication signal i(fn) of a given frequency fn emitted by the robot manager 10 and / or the controller 10' to the associated robot 1n, in particular its neural stimulator interface 1n2; - or 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 1n, in particular its neural stimulator interface 1n2.

[0057] In particular, the robot 1n, in particular its neural stimulator interface, comprises a generator 1n4 (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 1n, in particular its neural stimulator interface 1n2.

[0058] A robot 1n, 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 1n, and / or with a given command cmd n of a given robot 1n and / or to a given adjustment direction dr n of a parameter p n cmd command, cmd n of a given robot 1n.

[0059] The robots {1n} n , in particular reproduction devices {1n3} n robots {1n} n , broadcast reproduced stimuli or signals with the given frequencies : corresponding to the reproduction of the signals to be reproduced with the given frequencies . The reproduced stimuli or signals are perceptible, in particular visible in the case of visual stimuli or audible in the case of audio stimuli, by a user U.

[0060] In particular, the robot 1n, in particular its neural stimulator interface 1n2, comprises a reproduction interface or reproduction device 1n3 (not illustrated) capable of reproducing the signal(s) to be reproduced. with the given frequencies The signal thus reproduced st(fn) constitutes a stimulus diffused by the robot 1n, in particular by its neural stimulator interface 1n2.

[0061] In particular, the generator provides the generated signal sr(fn) possibly to the reproduction device 1n3.

[0062] The diffusion of a stimulus st, st n , also called reproduced signal, with the given frequency f n by the robot 1n results from a reproduction of a signal to be reproduced sr, sr n with a given frequency f n by the 1n robot, in particular by its 1n3 reproduction device.

[0063] This stimulus or signal reproduces st, st n with the given frequency f n induced, in the brain of the user who focuses on the stimulus signal reproduced st, st n with the given frequency f n , (especially when listening / watching the reproduced stimulus or signal, this being respectively an auditory / visual stimulus), an evoked potential whose neuronal frequency f eeg is a function of the given frequency f n .

[0064] The 1n3 reproduction device 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 diodes or lasers (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.

[0065] In the case of a 1n3 auditory reproduction device, the 1n3 reproduction device comprises in particular one or more loudspeakers, a stereophonic device, one or more earphones, in particular a headset, etc. The 1n robot, in particular its neural stimulator interface, and, in particular, the 1n3 reproduction device, 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.

[0066] In the case of a 1n3 visual reproduction device, the 1n3 reproduction device is in particular a 2D, 3D screen, etc., one or more light-emitting diodes or lasers (in particular a mosaic of light-emitting diodes), a holograph, etc. The 1n robot, in particular its neural stimulator-interface, and, in particular, the 1n3 reproduction device, 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.

[0067] In particular, a signal to be reproduced with a given frequency is distinct from a signal to be reproduced with another given frequency : when the other given frequency f n is distinct from the given frequency f j : .

[0068] 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.

[0069] Furthermore, the stimulus to control a robot 1n is then physically associated with the robot 1n to be controlled since it is broadcast by the robot 1n itself. The stimulus to control the robot 1n with the given frequency fn therefore comes geographically from the robot 1n to which this given frequency fn is associated. Therefore, when the swarm of robots {1n} n reproducing signals or stimuli of frequencies {fn} n is dispersed in space, then the risk of interaction error with robots is reduced because the user focuses more easily on one of the signals of distinct frequencies due to their distinct locations.

[0070] A neural control architecture of the multi-robot system 1 comprising the robot 1n 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…1n…1N 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.

[0071] The direct neural interface 2 is capable of capturing a neural frequency f eeg relating to a user U when reproducing signals to be reproduced with given frequencies . The direct neural interface 2 comprises a transmitter 202 (not shown) of the captured neural frequency f eeg via a communications network (not shown).

[0072] In particular, the transmitter 202 of the captured neural frequency is capable of triggering a control of a given robot 1n associated, during an initialization of the robot 1n and / or its neural stimulator interface, at the given frequency fn, of a signal st(fn) reproduced by the robot 1n, respectively its neural stimulator interface, connected to the communication network 3. The emitted neural frequency f eeg is a function of the given frequency fn, .

[0073] In particular, the transmitter 202 of the captured neural frequency is capable of triggering a given command cmd n of a 1n robot associated, during an initialization of the 1n robot and / or its neural stimulator interface, with the given frequency fn, of a signal st(fn) reproduced by the robot 1n, respectively its neural stimulator interface, connected to the communication network 3. The emitted neural frequency f eeg is a function of the given frequency fn, .

[0074] In particular, the transmitter 202 of the captured neural frequency feeg is capable of triggering an adjustment of a control parameter p n of a 1n robot of a multirobot system 1 in a given direction dr n . Setting the command parameter p n is performed in a given adjustment direction dr n associated with one of the given frequencies f n , signals to be reproduced sr(f n ), sr n (f n ) by a 1n robot, the given frequency fn, associated with the given adjustment direction dr n being a given frequency whose emitted neuronal frequency f eeg is function.

[0075] The neural frequency f eeg is more precisely a function of the given frequency f n corresponding to the stimulus st(f n ), st n (f n) generated by reproducing a signal to be reproduced using the given frequency sr(f n ), sr n (f n ) on which user U focused. In particular, the captured neural frequency f eeg is a frequency of an evoked potential signal in brain signals sc, such as electroencephalogram signals, of a user U.

[0076] When the user U focuses on the stimulus st(fn) reproduced with the given frequency fn by the robot 1n, in particular by its connected neural stimulator-interface 1n2, a direct neural interface 2 captures a neural frequency f eeg relative to the user U. The captured neural frequency f eeg and the given frequency fn have the same value.

[0077] 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.

[0078] The direct neural interface 2 provides the captured neural frequency f eeg 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 1n 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 cmd n , or even a cmd command n including a parameter p n is set in a given setting direction dr n , a function of the captured neuronal frequency is implemented by the multi-robot system 1, in particular by means of its controller 10'.

[0079] Illustrates a simplified diagram of a multi-robot system according to the invention.

[0080] The multi-robot system 1 comprises:- several robots 11, 12 … 1n … 1N capable of reproducing at least one signal st(fn) with a given frequency fn associated with at least one robot 1n, the given frequency fn associated with the robot 1n being distinct from the given frequencies associated to other robots of the multi-robot system 1: fn ≠ fi, and- a controller 10' capable of controlling at least one determined robot 1n of the multi-robot system 1 as a function of a neural frequency f eeg received from a direct neural interface 2 during reproduction by robots 11, 12 … 1n … 1N of signals to be reproduced with distinct given frequencies fn, , the neuronal frequency f eeg received being a function of a given frequency fn, among the given distinct frequencies, the given frequency fn, and the determined robot 1n being associated.

[0081] In particular, the controller 10' is a centralized controller capable of controlling several robots 11, 12 … 1n … 1N of the multi-robot system 1.

[0082] In particular, the multi-robot system 1 comprises: - a reproduction interface 103 capable of reproducing at least one signal with a given frequency 1b.st( ),st( ) among the following: + a second given frequency associated with a cmd control signal n of at least one of the 1n robots; + a third given frequency associated with a direction of adjustment of a parameter p n of a cmd command, cmd n of at least one of the 1n robots.

[0083] Alternatively to the centralized controller, the controller 10' is a distributed controller comprising several controllers 110', 120' … 1n0' … 1N0' specific to several robots 11, 12 … 1n … 1N of the multi-robot system 1, a controller 1n0' specific to a robot 1n, also called a determined robot, of the multi-robot system 1 being capable of triggering a command of the robot 1n as a function of a received neural frequency f ecg of a direct neural interface 2 during reproduction by robots 11, 12 … 1n … 1N of signals to be reproduced with distinct given frequencies fn, , the neuronal frequency f eeg received being a function of a given frequency fn, among the given distinct frequencies, the given frequency fn, and the determined robot 1n being associated.

[0084] 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 1n of the multi-robot system 1 as a function of a neural frequency f eeg received from a direct neural interface 2 during reproduction by robots 11, 12 … 1n … 1N of signals to be reproduced with distinct given frequencies fn, , the neuronal frequency f eeg received being a function of a given frequency fn, among the given distinct frequencies, the given frequency fn, and the determined robot 1n being associated. In particular, the robot manager 10 comprises the controller 10'.

[0085] In particular, in the case of a centralized architecture, the robot 1n, in particular its neural stimulator interface, is distinct from the robot manager 10 and the controller 10'.

[0086] 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…1n 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.

[0087] In particular, in the case of a centralized architecture, the robot 1n 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 IoT 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...

[0088] In particular, either a robot manager 10, or several robots 1n, respectively comprises a coupler 105 capable of associating a given frequency fn of a signal st(fn) reproduced by a robot 1n and / or a neural stimulator interface 1n2 of a robot 1n connected to the communication network 3 to the robot 1n, and / or to a given command cmd n of a robot 1n of the multirobot system 1, and / or to a given adjustment direction dr n of a given parameter p n of a cmd command, cmd n of a 1n robot. 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 multi-robot system: namely that a 1n robot comprises its own coupler 1n05' (not illustrated).

[0089] In particular, the robot manager 10 and / or the controller 10' and / or the coupler 105, 1n05' comprises a storage device 101, 1021, 1051, of given frequency-given robot pairs (fi, 1i) i=1…n…N ; and / or of given frequency-command pairs (fi, cmd i ) i=1…n…N , (fi, cmd i (1i)) i=1…n…N ; and / or of given frequency-direction pairs of given command parameter data (fi, dr i (p i) ) i=1…n…N , (fi, cmd i (1i,p i) ) i=1…n…N The storage device 101, 1021, 1051 is a memory, a data frequency base, etc.

[0090] Alternatively, not only the controller 10', but also the storage device 101 is distributed among the robots of the multi-robot system 1, in particular in the form of specific controllers 1n0' and specific storage device 1n01' (not shown). For example, the robots are capable of receiving the direct neural frequency. And, possibly, each robot comprises a device for storing the pairs of given frequencies associated with this robot, and / or the pairs of given frequencies-commands given for this robot and / or the pairs of given frequencies-directions of adjustment of given command parameters given for this robot. Thus, each robot is configured to recognize the specific frequencies, that is to say the frequencies associated with it. In particular, the user configures the robot beforehand to recognize its specific frequencies.

[0091] In particular, the coupler 105 comprises a recorder (not shown) capable of storing the given frequency – given component pair (the given component cp n being: robot given 1n and / or command given cmd n and / or given command parameter p n ) (cp n ,f n ), in particular in a storage device 101, 1021, 1051 of the robot manager 10 and / or the controller 10'.

[0092] In particular, the robot manager 10 and / or the controller 10' is able to control the multi-robot system 1, more precisely a robot 1n of the multi-robot system 1 as a function of a received neural frequency f eegof 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 1n. 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.

[0093] In particular, the robot manager 10 and / or the controller 10' comprises a communication interface 100 capable of receiving a neural frequency f eeg of the direct neural interface 2. In particular, the communication interface 100 comprises a receiver 1001 capable of receiving the neural frequency f eeg of the direct neural interface 2.

[0094] In particular, the robot manager 10 and / or the controller 10' comprises an analyzer 1022 capable of determining a given robot 1n, and / or a given command cmd nof the robot 1n and / or a dr adjustment direction n of a parameter of p n of a cmd command, cmd n of the robot 1n as a function of a received neural frequency f eeg of a direct neural interface 2 during a reproduction by the robot 1n and / or its neural stimulator interface 1n2 of a signal st(fn) with the given frequency fn associated respectively with the given robot 1n, with the given command cmd n , to the right adjustment direction n of a command parameter p n .

[0095] In particular, the communication interface 100, or even the receiver 1001, provides the analyzer 1022 with the neural frequency f eeg received from the direct neural interface 2.

[0096] In particular, the analyzer 1022 requests from the storage device 101, 1021, 1051 the given robot 1n, the given command cmd n , the given adjustment direction dr n of a given command parameter p nassociated with a given frequency fn, , , corresponding to the received neuronal frequency f eeg and respectively provides a cmd command to the given robot 1n, and / or the given cmd command n to the given robot 1n and / or the given adjustment direction dr n of a given command parameter p n to the given robot 1n.

[0097] 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 cmd command, in particular a given cmd command n associated with a given frequency fn, , corresponding to the received neuronal frequency f eeg , possibly with a given parameter p n set in a given adjustment direction dr n associated with a given frequency fn, corresponding to the received neuronal frequency f eeg , to a given robot 1n associated with a given frequency fn, , , corresponding to the received neuronal frequency f eeg, .

[0098] 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 1n associated with a given frequency fn, , , corresponding to the received neuronal frequency f eeg, a cmd command, especially a given cmd command n associated with a given frequency fn, , corresponding to the received neuronal frequency f eeg , possibly with a given parameter p n set in a given adjustment direction dr n associated with a given frequency fn, corresponding to the received neuronal frequency f eeg. In particular, the communication interface 100 comprises a transmitter 1002 capable of transmitting to the robots.

[0099] In particular, the analyzer 1022 provides information relating to the given robot 1n, and / or the given command cmd n and / or the given adjustment direction dr n of a given command parameter p n to transmitter 1002.

[0100] 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 1n, of a command, possibly a given command cmd n , in particular with a given parameter p n set in a given adjustment direction, associated with a given frequency fn, , , corresponding to the received neuronal frequency f eeg : cmd n (f eeg =fn).

[0101] In a first architecture, a first robot manager 101 comprises the coupler 105 and a second robot manager 102 comprises the controller 10'.

[0102] Alternatively, in a second architecture illustrated by the, 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 1n to a given robot 1n and / or a given command cmd n of the given robot 1n, and / or a given adjustment direction dr n of a given command parameter p n of a cmd command, cmd n of the given robot 1n, and- the controller 10' of robots according to a received neural frequency f eeg of a direct neural interface 2 during a reproduction of the signal st(fn) at the given frequency fn by the robot 1n.

[0103] 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 1n, in particular its neural stimulator interface 1n2.

[0104] 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 1n, in particular its neural stimulator interface 1n2; - 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 1n, in particular its neural stimulator interface 1n2; - an indication signal i(fn) of the given frequency fn emitted by the robot 1n, in particular its neural stimulator interface, to the robot manager 10 and / or the controller 10'.

[0105] In particular, the transmitter 100 comprises a transmitter 1002 of the signal relating to the given frequency fn intended for the robot 1n, in particular its neural stimulator interface.

[0106] In particular, the transmitter 100 comprises a receiver 1001 indicating signal of the given frequency i(fn) coming from the robot 1n, in particular its neural stimulator interface.

[0107] 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 1n, 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.

[0108] In particular, the robot 1n, 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 1n, in particular its neural stimulator interface, and the robot manager 10 and / or the controller 10' are separate. By robot 1n or neural stimulator interface 1n2 distinct from the robot manager 10 and the controller 10' is understood in particular the fact that the robot manager 10 and the controller 10' do not comprise, do not implement the robot 1n, in particular its neural stimulator interface.

[0109] 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 1n 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 1n 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).

[0110] 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 1n of the multi-robot system 1 as a function of at least one command, in particular a given command cmd n , including possibly a given parameter p n is set in a given setting direction dr n, for example provided by a robot manager 10 and / or a controller 10'. The given robot 1n and / or the given command cmd n and / or the given parameter set p n is(are) a function of an emitted neuronal frequency f eeg by a direct neural interface 2 during a reproduction of a signal st(fn) with a given frequency fn by a robot 1n, in particular from its neural stimulator interface 1n2. The emitted neural frequency f eeg is a function of the given frequency fn.

[0111] 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.

[0112] In particular, the robot 1n 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 f eegreceived from a direct neural interface 2 during a reproduction of a signal st(fn) with a given frequency fn by the robot 1n, in particular by its neural stimulator interface 1n2. The received neural frequency f eeg is a function of the given frequency fn.

[0113] 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.

[0114] In particular, a direct neural interface 2 is capable of providing a captured neural frequency f eeg 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 f eegduring a reproduction of a visual signal st(fn) with a given frequency fn by the robot 1n, in particular by its neural stimulator interface 1n2.

[0115] 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.

[0116] 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 1n, in particular to its neural stimulator interface 1n2, 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.

[0117] In particular, the reproduction device 1n3 of the robot 1n, in particular its neural stimulator interface 1n2 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 1n, in particular its neural stimulator interface 1n2 1, or even, for example, a visual signal generator (not shown) of the robot 1n, 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'.

[0118] Optionally, the robot 1n 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 the pair associating a given frequency and: a given robot (f n ,cmd n ) and / or a given command (f n ,cmd n ) and / or a given parameter set in a given setting direction (f n ,p n ), a command intended for the given robot 1n, or even the given command cmd n , the given parameter p n .

[0119] 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.

[0120] The method for controlling BCNT robots of a MBS multi-robot system comprising:- controlling BCMD a given robot Bn of the MBS multi-robot system as a function of a neural frequency f eeg received from a direct neural interface BI during reproduction by robots B1…Bn of signals to be reproduced with distinct given frequencies fn, , the neuronal frequency f eeg received being a function of a given frequency fn, among the given distinct frequencies, the given frequency fn, and the determined robot Bn being associated.

[0121] In particular, the BCMD command of the determined robot Bn is carried out by means of a cmd control signal n determined as a function of a neuronal frequency f eeg received from a direct neural interface BI during reproduction of signals to be reproduced with distinct given frequencies , the neuronal frequency f eegreceived being a function of a given frequency fn, among the given distinct frequencies, the given frequency fn, and the cmd control signal n determined being associated.

[0122] In particular, the BCNT control method includes:- adjusting RG a parameter p n of controlling a robot in a setting direction dr among several distinct setting directions, as a function of a neural frequency f eeg received from a direct neural interface BI during reproduction of signals to be reproduced with distinct given frequencies , the neuronal frequency f eeg received being a function of a given frequency fn, among the given distinct frequencies, the given frequency fn, and the determined control signal cmd(p n ), cmd n (p n ) being associated.

[0123] Optionally, the BCMD command includes the RG command parameter setting.

[0124] In particular, the BCNT control method comprises at least one first determination DT1 among the following determinations depending on at least one first received neuronal frequency :- determine a robot to be controlled DT1 = BDT;- determine a command of the determined robot DT1 = CDT;- determine a setting parameter of the command of the determined robot DT1 = PDT.

[0125] 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 command determination determines the command to be sent to the determined robot by means of a control signal.

[0126] 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.

[0127] 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.

[0128] In particular, the BCNT control method comprises, following the first determination DT1 as a function of the first neuronal frequency received , a second DT2 determination based on at least a second neuronal frequency received after the first received neural frequency:- determine a command of the determined robot DT2 = CDT;- a determination of the adjustment parameter of the determined robot command DT2 = PDT.

[0129] In particular, the BCNT control method comprises, following the second DT2 determination as a function of the second neuronal frequency received, a third DT3 determination based on at least a third neuronal frequency received after the second received neural frequency: - determine a control setting parameter determined by the robot determined DT3 = PDT.

[0130] 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 including in particular the controller in the case of centralized control.

[0131] 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 notably implemented by a robot Bn, possibly by a neural stimulator interface of the robot Bn. In particular, the BCNT control method implemented by the robot manager BG, or even the controller comprises the activation BI_ACT.

[0132] A BnST stimulation method, notably 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.

[0133] In particular, the BnST stimulation method comprises, prior to 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.

[0134] 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 B1…Bn.

[0135] 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.

[0136] Optionally, the BCNT control method includes the GST stimulation method by the BG manager.

[0137] 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 their commands and / or parameter setting directions 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.

[0138] 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.

[0139] Eventually, 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 B1…Bn robots, or even neural stimulator interfaces of B1…Bn robots, of the MBS multi-robot system.

[0140] 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.

[0141] When a transition from "off" or "disabled" status to "on" or "enabled" status is detected [ON] by this MBS_ST? check, then the MBS_ST? check issues a bcic_on activation command. The bcic_on activation command optionally includes the command list providing a list of commands {cmd i} i=1…n…N suitable for implementation by the MBS multi-robot system. The bcic_on action command triggers the activation BI_ACT of an RPR reproduction of a signal st(fn) with a given frequency fn.

[0142] When a transition from "standby" status to "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 BI_ACT activation of an RPR reproduction of a signal st(fn) with a given frequency fn.

[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): controlling BCMD a given robot Bn by means of a command, in particular a given command cmd n , and / or with a given parameter p n adjusted in a given adjustment direction, depending on a captured neural frequency f eeg coming from a direct neural interface BI during RPR reproduction of the signal with a given frequency st(fn) by a robot Bn and / or a neural stimulator interface of the robot Bn.

[0144] In particular, the electronic equipment control method 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 command BDT, the command CDT, and / or a parameter of a command PDT, as a function of a captured neuronal frequency f eeg from a direct neural interface BI during RPR reproduction of the signal with a given frequency st(fn) by a robot Bn or a neural stimulator interface of a robot Bn. Determining a characteristic of a CCDT command involves: searching in a storage device such as the frequency base BDF.

[0145] In particular, a neural interaction method BI_INT provides the captured neural frequency f eegcoming from a direct neural interface BI during RPR reproduction of the signal with a given frequency st(fn) by a robot Bn or a neural stimulator interface of the robot Bn.

[0146] The BI_INT neural interaction method is notably implemented by the BI direct neural interface.

[0147] 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 as the fact that the user U focuses on (looks at, listens to, etc.) the stimulus v(fn) resulting from the RPR reproduction of a signal with the given frequency st(fn).

[0148] In particular, the BI_INT neural interaction method includes EEG_DTC neural frequency detection.

[0149] In particular, a captured EM neural frequency emission transmits to the BCNT electronic equipment control process the neural frequency f eeg captured during the RPR reproduction 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 f eeg emitted by EM emission is provided by EEG_DTC neural frequency detection.

[0150] In particular, the BI_INT neural interaction process involves the emission of captured neural frequency EM.

[0151] In particular, the cmd command intended for the given robot Bn and / or the given cmd command n and / or the given parameter p ncommand triggers: execute BX by the robot Bn, in particular execute a given treatment XE. Possibly the execution of BX by the robot Bn includes the execution of the given treatment XE.

[0152] In particular, the BCMD control method comprises: controlling PLT the BX execution by the robot Bn, in particular according to the parameter set by the RG setting either of the BCMD control method or of the BX execution method.

[0153] In particular, the execution method BX by the robot Bn comprises:- setting RG a parameter p n of robot control Bn in a setting direction dr among several distinct setting directions, as a function of a neural frequency f eeg received from a direct neural interface BI during reproduction of signals to be reproduced with distinct given frequencies , the neuronal frequency f eeg received being a function of a given frequency fn, among the given distinct frequencies, the given frequency fn, and the determined control signal cmd(p n ), cmd n (p n ) being associated.

[0154] 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 control 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 control different operations: activation, movement, etc. or even different settings of an operation in progress: change of speed, direction, etc. of movement; etc.

[0155] 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 a setting among different settings of an operation in progress: change of speed, direction, etc. of movement; etc.

[0156] An embodiment of the BCNT control method is a program comprising program code instructions for executing the steps of the described method of controlling robots of a multi-robot system when said program is executed by a processor.

[0157] The invention also relates to a medium. The information medium can be any entity or device capable of storing the program. For example, the medium can 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.

[0158] 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.

[0159] Alternatively, the information carrier may be an integrated circuit in which the program is incorporated, the circuit being adapted to perform or to be used in the performance of the method in question.

[0160] 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.

[0161] 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 active robots), or even each robot emits a stimulus, in particular an auditory one, at a certain frequency.

[0162] Robots include an effector, such as a processor or electronic board, and a sound or auditory reproduction interface such as a buzzer and / or a loudspeaker connected to the effector. The sound reproduction interface allows robots to emit a sound or a sequence of sounds (including several stimuli or a stimulus associated with a specific sequence of frequencies).

[0163] 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 focusing on the stimulus emitted by this robot, or even command a specific action of this robot by focusing on a specific stimulus emitted by this robot.

[0164] 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 placed on the user's skull. The direct neural interface is particularly capable of measuring the user's brain activity or one or more brain signals.

[0165] Thus, when the user focuses on a stimulus, in particular a sound, it is possible to find the frequency of the stimulus on which he is focusing by analyzing the user's brain signals and thus control the robot emitting the stimulus, in particular to activate it, deactivate it, control a specific movement of this robot, etc.

[0166] 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.).

[0167] This solution has the dual advantage of freeing the user's hands, but also of speeding up the process of controlling a robot in a multi-robot system.

Claims

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, the robot being capable of being controlled by the multi-robot system if a neural frequency received from a direct neural interface is the given frequency associated with the robot 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. 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. Robot according to the preceding claim, in which the reproduced signal is one of the following:- an auditory signal;- a visual signal. 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. 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. 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. 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. 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 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. 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. 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. 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. 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: - determine a robot to be controlled; - determine a command of the determined robot; - determine a parameter for adjusting the command of the determined robot. 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. 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 parameter for adjusting the determined control of the determined robot. 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.

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