Abstract
This work investigates an over-arching question: how can an immersive virtual environment be connected with its intelligent physical counterpart to allow for a more efficient man-machine collaboration. To this end, an immersive user interface for the purpose of robot tele-operation is designed. A large amount of sensory data is utilized to build models of the world and its inhabitants in a way that is intuitive to the operator and accurately represents the robot’s real-world state and environment. The game client is capable of handling multiple users, much like a traditional multiplayer game, while visualizing multiple robotic agents operating within the real world. The proposed Virtual Environment for Tele-Operation (VETO) architecture is a tele-operation system that provides a feature-rich framework to implement robotic agents into an immersive end-user game interface. Game levels are generated dynamically on a Graphic Processing Unit or GPU-accelerated server based on real-world sensor data from the robotic agents. A set of user studies are conducted to validate the performance of the proposed architecture compared to traditional tele-robotic applications. The experimental results show significant improvements in both task completion time and task completion rate over traditional tools.
Highlights
The tele-operation of robotic platforms plays a vital role in space exploration, military reconnaissance, undersea operations, robotic surgery, training of personnel, and search and rescue operations in unsafe locations
This section will first present a number of applications in which the proposed Virtual Environment for Tele-Operation (VETO) architecture helps to improve the situational awareness and interactions required between the robot and its human operator
The section will present the set-up of two experiments in a human usability study and demonstrate performance improvements achieved by utilizing the proposed environment compared to regular operations of robotics agents
Summary
The tele-operation of robotic platforms plays a vital role in space exploration, military reconnaissance, undersea operations, robotic surgery, training of personnel, and search and rescue operations in unsafe locations. In order to provide enough information for operators to effectively and efficiently control a robot remotely, the end user must have access to real-world visual odometry, positional and environmental map data, as well as any laser range finder, sonar, or other sensor data used by the robot for obstacle detection and localization. This data is further increased when multiple collaborative robots are considered. Traditional robot control schemes employ simple user interfaces to display information
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