In this paper, we describe a sketch-based interface to control a team of mobile robots. The sketch interface uses a PDA platform and incorporates editing commands and an HMM recognizer for classifying sketched symbols. In the paper, we describe the recognizer and report classification results on twelve sketched symbols. To control the robot team, a user sketches a configuration that represents a multi-robot formation, such as follow the leader or march side by side. A team of small mobile robots has been built to test the PDA interface. The robots achieve the formations through simple behaviors that use local color tracking. Each robot is fitted with brightly colored side panels to facilitate the formations. In the paper, we report observers' comments from the AAAI Conference and Robotics Competition.
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