TY - GEN
T1 - A visual and force feedback for multi-robot teleoperation in outdoor environments
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
AU - Hong, Ayoung
AU - Bulthoff, Heinrich H.
AU - Son, Hyoung Il
PY - 2013
Y1 - 2013
N2 - For teleoperation of multiple mobile robots (e.g., unmanned aerial vehicles), a better situational awareness of remote environments is crucial for good performance. Visual and force feedback are the most common ways to perceive the environments accurately using a vision system and a haptic device, respectively. In outdoor environments, however, it is difficult to use adequate/accurate sensors (e.g., global localization system) for haptic feedback of the remote environments as well as the slave robots. In this paper, we propose a visual and force feedback method to enhance a human operator's situational awareness in multi-robot teleoperation by fabricating a global view of the multi-robot system and transmitting velocity information of one, respectively, using only local information of the robots. The proposed visual feedback method, then, is evaluated via two psychophysical experiments: maneuvering and searching tests. Several measures are also proposed to assess the human operator's maneuverability and situational awareness quantitatively.
AB - For teleoperation of multiple mobile robots (e.g., unmanned aerial vehicles), a better situational awareness of remote environments is crucial for good performance. Visual and force feedback are the most common ways to perceive the environments accurately using a vision system and a haptic device, respectively. In outdoor environments, however, it is difficult to use adequate/accurate sensors (e.g., global localization system) for haptic feedback of the remote environments as well as the slave robots. In this paper, we propose a visual and force feedback method to enhance a human operator's situational awareness in multi-robot teleoperation by fabricating a global view of the multi-robot system and transmitting velocity information of one, respectively, using only local information of the robots. The proposed visual feedback method, then, is evaluated via two psychophysical experiments: maneuvering and searching tests. Several measures are also proposed to assess the human operator's maneuverability and situational awareness quantitatively.
UR - http://www.scopus.com/inward/record.url?scp=84887295294&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2013.6630765
DO - 10.1109/ICRA.2013.6630765
M3 - Conference contribution
AN - SCOPUS:84887295294
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1471
EP - 1478
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -