"Turn Off the Television!": Real-World Robotic Exploration Experiments with a Virtual 3-D Display

Bruemmer, David J.; Few, Douglas A.; Walton, Miles; Boring, Ronald L.; Marble, Julie L.; Nielsen, Curtis W.; Garner, Jayden

doi:10.1109/hicss.2005.1

Cited by 24 publications

(15 citation statements)

References 10 publications

(15 reference statements)

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“…The perceived ease of use and perceived performance were the highest for ME3D and the lowest for VC2D. The results corroborate previous research findings, for example, [109][110][111][112][113].…”

Section: Pilot Interface Designsupporting

confidence: 82%

A Review of Mobile Robotic Telepresence

Kristoffersson

Coradeschi

Loutfi

2013

Advances in Human-Computer Interaction

307

171

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Mobile robotic telepresence (MRP) systems incorporate video conferencing equipment onto mobile robot devices which can be steered from remote locations. These systems, which are primarily used in the context of promoting social interaction between people, are becoming increasingly popular within certain application domains such as health care environments, independent living for the elderly, and office environments. In this paper, an overview of the various systems, application areas, and challenges found in the literature concerning mobile robotic telepresence is provided. The survey also proposes a set terminology for the field as there is currently a lack of standard terms for the different concepts related to MRP systems. Further, this paper provides an outlook on the various research directions for developing and enhancing mobile robotic telepresence systems per se, as well as evaluating the interaction in laboratory and field settings. Finally, the survey outlines a number of design implications for the future of mobile robotic telepresence systems for social interaction.

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Section: Pilot Interface Designsupporting

confidence: 82%

A Review of Mobile Robotic Telepresence

Kristoffersson

Coradeschi

Loutfi

2013

Advances in Human-Computer Interaction

307

171

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“…Another insight was that adding bandwidth to the interface did not necessarily enhance performance. In one study operators with a map-based interface did equally well at the task of exploring a building as operators who got the same map, but were also given a video-based interface which required 5000 times more bandwidth [5]. In fact, operators with more data made more errors and felt more frustrated.…”

Section: Introductionmentioning

confidence: 98%

“…User trust is a major component in operational success, and in our studies trust has been shown to be reduced by conflicts regarding the user's assumptions with respect to robot initiative [5]. Nourbkhsh [7] states "robots are real things, robots push back on the world," unless left on their own, i.e., fully autonomous, they will always be interacting in social spaces [4].…”

Section: Introductionmentioning

confidence: 99%

Metaphors to Drive By: Exploring New Ways to Guide Human - Robot Interaction

Bruemmer¹,

Gertman²,

Nielsen³

2007

TOCSJ

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Autonomous behaviors created by the research and development community are not being extensively utilized within energy, defense, security, or industrial contexts. This paper provides evidence that the interaction methods used alongside these behaviors may not provide a mental model that can be easily adopted or used by operators. Although autonomy has the potential to reduce overall workload, the use of robot behaviors often increased the complexity of the underlying interaction metaphor. This paper reports our development of new metaphors that support increased robot complexity without passing the complexity of the interaction onto the operator. Furthermore, we illustrate how recognition of problems in human-robot interactions can drive the creation of new metaphors for design and how human factors lessons in usability, human performance, and our social contract with technology have the potential for enormous payoff in terms of establishing effective, user-friendly robot systems when appropriate metaphors are used.

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“…However, these are subject to false alarms and multipart problems in some environments. New technologies, such as the microwave radiomater 10 are promising but have not yet reached a maturity level suitable for deployment.…”

Section: Human Presence Detectionmentioning

confidence: 99%

Sensor fusion for intelligent behavior on small unmanned ground vehicles

et al. 2007

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Sensors commonly mounted on small unmanned ground vehicles (UGVs) include visible light and thermal cameras, scanning LIDAR, and ranging sonar. Sensor data from these sensors is vital to emerging autonomous robotic behaviors. However, sensor data from any given sensor can become noisy or erroneous under a range of conditions, reducing the reliability of autonomous operations. We seek to increase this reliability through data fusion. Data fusion includes characterizing the strengths and weaknesses of each sensor modality and combining their data in a way such that the result of the data fusion provides more accurate data than any single sensor. We describe data fusion efforts applied to two autonomous behaviors: leader-follower and human presence detection. The behaviors are implemented and tested in a variety of realistic conditions. KEYWORDS: robotics, unmanned systems, data fusion, intelligent behaviors, computer vision 1. BACKGROUND Technology Transfer ProjectThe JGRE Technology Transfer Project (TechTXFR) managed by Space and Naval Warfare Systems Center, San Diego (SSC San Diego) seeks to enhance the functionality (ability to perform more tasks) and autonomy (with less human intervention) of teleoperated systems 1 . The objective is to expedite advancement of the technologies needed to produce an autonomous robot that can robustly perform in battlefield situations. Instead of developing new capabilities from scratch, the approach is to assess the technology readiness levels (TRLs) of component technologies (i.e., mapping, object recognition, motion-detection-on-the-move) developed under a variety of past and ongoing R&D efforts (such as the DARPA Tactical Mobile Robot program). The most mature algorithms are integrated and optimized into cohesive behavior architectures and then ported to various platforms used by the warfighter for further evaluation in operational environments. Contributing sources of component technologies include the Idaho National Laboratory (INL), NASA's Jet PropulsionLaboratory, Carnegie-Mellon University (CMU), Stanford Research Institute International (SRI), University of Michigan, Brigham Young University, University of California San Diego, and University of Texas Austin, as well as other SSC San Diego projects (e.g., Man Portable Robotic System 2 and the ROBART series 3 ). Starting in FY-03, the approach was to harvest existing indoor navigation technologies developed by various players and assess their different approaches to dead reckoning, obstacle detection/avoidance, mapping, localization, and path planning. The details of these focus areas will not be discussed in this paper but can be found in previous project publications 4 . The best features of the more promising solutions have now been integrated into an optimal system, giving an operator the ability to send an autonomous platform into an unknown indoor area and accurately map the surroundings. An augmented virtuality representation of the environment is derived, fusing real-time sensor information with the evo...

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"Turn Off the Television!": Real-World Robotic Exploration Experiments with a Virtual 3-D Display

Cited by 24 publications

References 10 publications

A Review of Mobile Robotic Telepresence

A Review of Mobile Robotic Telepresence

Metaphors to Drive By: Exploring New Ways to Guide Human - Robot Interaction

Sensor fusion for intelligent behavior on small unmanned ground vehicles

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