ARDebug: An Augmented Reality Tool for Analysing and Debugging Swarm Robotic Systems

Millard, Alan G.; Redpath, Richard; Jewers, Alistair M.; Arndt, Charlotte; Joyce, Russell; Hilder, James A.; McDaid, Liam; Halliday, David M.

doi:10.3389/frobt.2018.00087

Cited by 20 publications

(9 citation statements)

References 15 publications

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“…While virtual and augmented reality have been successfully used to debug applications and systems across many domains [14,30], almost no applications have been developed to debug AR experiences themselves. After having defined the content and interactions for an AR application, the biggest challenge indeed lies in managing the relationship between the physical and virtual world at run-time.…”

Section: Debugging and Simulating Ar Experiencesmentioning

confidence: 99%

CAVE-AR: A VR Authoring System to Interactively Design, Simulate, and Debug Multi-user AR Experiences

Cavallo

Forbes

2019

2019 IEEE Conference on Virtual Reality and 3D User Interfaces (VR)

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Figure 1: CAVE-AR is a virtual reality (VR) authoring tool aimed at assisting designers in creating, simulating and debugging augmented reality (AR) experiences. In the left image, a user in the real world is seeing AR content through his mobile device. On the right, a second user is able to monitor in real-time, through our authoring system, what the real-world user is seeing, and debug eventual faults. A dedicated panel displays hardware information about the user's mobile device (a), whose horizontal positioning accuracy is represented by a red circle (b). Two additional views display the estimated perspective of the user (c) and the live AR video feed from the device camera (d). ABSTRACTDespite advances in augmented reality (AR), the process of creating meaningful experiences with this technology is still extremely challenging. Due to different tracking implementations and hardware constraints, developing AR applications either requires low-level programming skills, or is done through specific authoring tools that largely sacrifice the possibility of customizing the AR experience. Existing development workflows also do not support previewing or simulating the AR experience, requiring a lengthy process of trial and error by which content creators deploy and physically test applications in each iteration. To mitigate these limitations, we propose CAVE-AR, a novel virtual reality system for authoring, simulating and debugging custom augmented reality experiences. Available both as a standalone or a plug-in tool, CAVE-AR is based on the concept of representing in the same global reference system both in AR content and tracking information, mixing geographical information, architectural features, and sensor data to simulate the context of an AR experience. Thanks to its novel abstraction of existing tracking technologies, CAVE-AR operates independently of users' devices, and integrates with existing programming tools to provide maximum flexibility. Our VR application provides designers with ways to create and modify an AR application, even while others are in the midst of using it. CAVE-AR further allows the designer to track how users are behav-*

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Section: Debugging and Simulating Ar Experiencesmentioning

confidence: 99%

CAVE-AR: A VR Authoring System to Interactively Design, Simulate, and Debug Multi-user AR Experiences

Cavallo

Forbes

2019

2019 IEEE Conference on Virtual Reality and 3D User Interfaces (VR)

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“…However, real experiments frequently present limitation to gather all information from multiple robots and environment in real time. Thus, the use of specialized, but expensive, hardware is essential to assure the accomplishment and validation of new developments in this area (Millard et al 2018;Reina et al 2015).…”

Section: Introductionmentioning

confidence: 99%

“…In face of such drawbacks, mixed reality systems are valid approaches to complement an experiment that involves real robots, providing a virtual layer in which all peripheral devices for sensing, communication and other purposes are virtually implemented (Hönig et al 2015). In Millard et al (2018), for example, a mixed reality tool is proposed to analyze different information obtained from a team of real robots. The authors highlighted the difficulties to interpret a set of swarm data, in real time, when there is no virtual tool to support it.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Navigation of Multiple Robots with Sensing and Communication Constraints Based on Mixed Reality

Almeida

Nakashima

Neves-Jr

et al. 2020

J Control Autom Electr Syst

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This paper presents a robotic navigation system that uses mixed reality concepts to develop sensing and communication virtual devices, based on the visual localization of the robot in the environment. The main objective of the navigation system is to provide conditions for the use of very simple robots with severe limitations on the mentioned peripheral devices for simulation, analysis and test of multi-robot applications. In an experiment with real robots, each one receives its virtual navigation skills in an independent way from the tool that emulates the function of such peripherals. Thus, the behavior of a group of robots, independently commanded, is implemented in the virtual environment and accomplished in the real world. An experiment composed by real multiple Sphero robots executing an exploratory task within an unknown dynamic environment is carried out to validate the proposed navigation system. The use of mixed reality concepts allows an easy implementation of cooperation mechanisms based on indirect communication skill and fuzzy controllers for the robots' movement. The results confirm the feasibility of the proposed autonomous navigation system.

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“…Além desses problemas próprios aos experimentos reais, existem outros fatores que dificultam a validação de novas estratégias para SMR em situações reais, tais que o elevado custo e complexidade dos robôs e/ou seus dispositivos de hardware, especificados para a aplicação pretendida (Millard et al, 2018). Por este motivo, o desenvolvedor de (ou parte de) um SMR deve contar com um ambiente alternativo que possibilite a realização de experimentos combinando as caracteristicas de cenários simulados e reais.…”

Section: Introductionunclassified

“…Em (Millard et al, 2018), por exemplo, um ambiente em realidade aumentadaé desenvolvido para facilitar a análise pelo usuário, de informações obtidas da navegação de múltiplos robôs reais. As arquiteturas baseadas em realidade aumentada também são utilizadas para implementar dispositivos virtuais de sensoriamento e comunicação em robôs reais (Kilobots e e-pucks) com capacidades limitadas (Reina et al, 2017(Reina et al, , 2015.…”

Section: Introductionunclassified

Navegação Autônoma de Múltiplos Robôs Baseada em Realidade Aumentada

Almeida

Nakashima

Neves

et al. 2019

Anais Do 14º Simpósio Brasileiro De Automação Inteligente

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This work presents a platform based on augmented reality for simulation, analysis and test of navigation systems to multiple robots in a real lab-scale environment. The main objective of this platform is to provide conditions for the use of simple and low-cost robots, with hardware constraints, in autonomous navigation applications. The framework Robot Operating System (ROS) is used to integrate all platform's components. An application example is presented to demonstrate the available resources during experiments, where multiple real Sphero robots receive their navigation skills in a virtual and independent way, ensuring a decentralize navigation behavior. The achieved results confirm the feasibility of this experimental tool. Resumo: Este trabalho apresenta uma plataforma baseada em realidade aumentada para simulação, análise e teste de sistemas de navegação para múltiplos robôs em um ambiente real, em escala de laboratório. O principal objetivo desta plataformaé fornecer condições para que robôs simples e de baixo custo, com limitações em seu hardware, possam ser utilizados em aplicações de navegação autônoma. O framework Robot Operating System (ROS)é usado para integrar todos componentes da plataforma. Um exemplo de aplicaçãoé implementado para demonstrar os recursos disponíveis nos experimentos, em que múltiplos robôs reais do tipo Sphero recebem suas habilidades de navegação de forma virtual e independente, garantindo um comportamento descentralizado de navegação. Os resultados alcançados confirmam a factibilidade desta ferramenta experimental.

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ARDebug: An Augmented Reality Tool for Analysing and Debugging Swarm Robotic Systems

Cited by 20 publications

References 15 publications

CAVE-AR: A VR Authoring System to Interactively Design, Simulate, and Debug Multi-user AR Experiences

CAVE-AR: A VR Authoring System to Interactively Design, Simulate, and Debug Multi-user AR Experiences

Autonomous Navigation of Multiple Robots with Sensing and Communication Constraints Based on Mixed Reality

Navegação Autônoma de Múltiplos Robôs Baseada em Realidade Aumentada

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