Synchronous vs. Asynchronous Video in Multi-robot Search

Velagapudi, Prasanna; Wang, Jijun; Wang, Huadong; Scerri, Paul; Lewis, Michael; Sycara, Katia

doi:10.1109/achi.2008.30

Cited by 13 publications

(20 citation statements)

References 21 publications

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“…Participants in the streaming video condition teleoperated on average 21.24 times while participants in the streaming video conditon teleoperated on average 4.97 times (F 1,28 = 150.719, p < .001). The full scale NASA-TLX workload measure also revealed a significant difference, which is unlike the earlier studies [28] where no advantage was found for panorama pictures GUI. A significant advantage in workload (F 1,28 = 7.347, p = .001) was observed favoring the image queue condition (Figure 9).…”

Section: Resultscontrasting

confidence: 94%

“…This in turn allows the addition of new data streams without increasing the complexity of the display itself. A first approach for an asynchronous display is explored in [28]. The method therein is motivated by asynchronous control techniques previously used in extraterrestrial NASA applications.…”

Section: Foraging and Asychronous Display Of Informationmentioning

confidence: 99%

“…In [25] it was shown that operators are able to also follow less smooth paths rather well, but the added safety of the paths also benefits autonomous navigation. The use of a path planner and autonomous navigation to drive the robots is one major distinction to the panorama study [28] for which paths were generated manually by participants to reach specified panorama locations.…”

Section: System Autonomymentioning

confidence: 99%

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Scalable target detection for large robot teams

Wang

Kolling

Brooks

et al. 2011

Proceedings of the 6th International Conference on Human-Robot Interaction

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In this paper, we present an asynchronous display method, coined image queue, which allows operators to search through a large amount of data gathered by autonomous robot teams. We discuss and investigate the advantages of an asynchronous display for foraging tasks with emphasis on Urban Search and Rescue. The image queue approach mines video data to present the operator with a relevant and comprehensive view of the environment in order to identify targets of interest such as injured victims. It fills the gap for comprehensive and scalable displays to obtain a network-centric perspective for UGVs. We compared the image queue to a traditional synchronous display with live video feeds and found that the image queue reduces errors and operator's workload. Furthermore, it disentangles target detection from concurrent system operations and enables a call center approach to target detection. With such an approach we can scale up to very large multi-robot systems gathering huge amounts of data that is then distributed to multiple operators.

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Section: Resultscontrasting

confidence: 94%

Section: Foraging and Asychronous Display Of Informationmentioning

confidence: 99%

Section: System Autonomymentioning

confidence: 99%

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Scalable target detection for large robot teams

Wang

Kolling

Brooks

et al. 2011

Proceedings of the 6th International Conference on Human-Robot Interaction

Self Cite

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“…When under manual control, robots are tasked by assigning waypoints on a heading-up map on the Map Viewer or through the teleoperation widget (lower right). An autonomous path planner was used in the current experiment to drive the robots, unlike the panorama study (Velagapudi et al 2008) in which paths were manually generated by participants with specified panorama locations. As in the previous study , operators appeared to have little difficulty in following these algorithmically generated paths, and identified approximately the same numbers of victims (per operator) as those following human generated paths.…”

Section: Usarsim and Mrcsmentioning

confidence: 99%

Asynchronous Control with ATR for Large Robot Teams

Brooks¹,

Scerri²,

Sycara³

et al. 2011

PsycEXTRA Dataset

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In this paper, we discuss and investigate the advantages of an asynchronous display, called "image queue", tested for an urban search and rescue foraging task. The image queue approach mines video data to present the operator with a relevant and comprehensive view of the environment by selecting a small number of images that together cover large portions of the area searched. This asynchronous approach allows operators to search through a large amount of data gathered by autonomous robot teams, and allows comprehensive and scalable displays to obtain a network-centric perspective for unmanned ground vehicles (UGVs). In the reported experiment automatic target recognition (ATR) was used to augment utilities based on visual coverage in selecting imagery for presentation to the operator. In the cued condition a box was drawn in the region in which a possible target was detected. In the no-cue condition no box was drawn although the target detection probability continued to play a role in the selection of imagery. We found that operators using the image queue displays missed fewer victims and relied on teleoperation less often than those using streaming video. Image queue users in the no-cue condition did better in avoiding false alarms and reported lower workload than those in the cued condition.

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“…There is a growing interest in human operator interfaces for robotic exploration and search in unknown areas [6], [9], [7]. Human operators play a key role in such missions, as the interpretation of camera images typically requires the visual perception skills of humans [9].…”

Section: Introductionmentioning

confidence: 99%

A novel user-guided interface for robot search

Kosti

Sarne

Kaminka

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Human operators play a key role in robotic exploration and search missions, as the interpretation of camera images typically requires the visual perception skills of humans. Thus one the key challenges in building effective robotic systems for such missions lies in developing good operator interfaces. In this paper, we present a novel asynchronous user-guided interface for human operators of robotic search of an unknown area. Enabled by efficient methods to store and retrieve recorded images (and meta information) in realtime, our interface allows the operator to click on any point of interest. The operator is then presented with highly-relevant images that cover the point, without occlusion. This, in contrast with system-guided approaches, where an automated system selects areas and images for inspection. Experiments with 32 human subjects in two different-size maps favor the user-guided approach we present over the system-guided approach. Additional experiments with human subjects provide an explanation as to the environment characteristics that favor our approach.

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Synchronous vs. Asynchronous Video in Multi-robot Search

Cited by 13 publications

References 21 publications

Scalable target detection for large robot teams

Scalable target detection for large robot teams

Asynchronous Control with ATR for Large Robot Teams

A novel user-guided interface for robot search

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