Pose and paste — An intuitive interface for remote navigation of a multi-robot system
Name
IROS2013_Lichtenstern.pdf
Description
Accepted version
Size
1.69 MB
Format
Adobe PDF
Checksum (MD5)
e531d91f383b2f6c2b92f31078bed86e
Author(s)
Lichtenstern, Michael
Angermann, Michael
Frassl, Martin
Berthold, Gunther
Julian, Brian J.
Rus, Daniela
Date Issued
November 2013
Publisher
IEEE
Citation
Lichtenstern, Michael, Angermann, Michael, Frassl, Martin, Berthold, Gunther, Julian, Brian J. et al. 2013. "Pose and paste — An intuitive interface for remote navigation of a multi-robot system."
Version
Author's final manuscript
Abstract
We present Pose and Paste (P&P) - an intuitive interface designed to facilitate interaction between a single user and a number of robots equipped with cameras. With this interface, a user wearing a head-mounted display is able to cycle through the real-time video streams originating from the robots' cameras. The user is also able to select a robot and remotely position it by simply walking or turning his/her head, i.e., control the robot's motion in a master/slave-type fashion. We report the results of an initial hardware experiment where a user located in the USA is tasked to position two quadrotor robots within a motion capture laboratory located in Germany. These results suggest that P&P is a feasible approach to remotely inspect disaster affected sites. Lastly, we conduct a user study to compare P&P with a baseline interface composed of a traditional computer monitor and a video game controller. The quantitative results and qualitative discussions resulting from this user study highlight how such multi-robot interfaces can be further improved. © 2013 IEEE.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/iros.2013.6696568
