Selecting and Commanding Individual Robots in a Multi-Robot System

We present a novel real-time computer vision-based system for facilitating interactions between a single human and a multi-robot system: a user first selects an individual robot from a group of robots, by simply looking at it, and then commands the selected robot with a motion-based gesture. Robots estimate which robot the user is looking at by performing a distributed leader election based on the "score" of the detected frontal face.