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Pose and Paste - An Intuitive Interface for Remote Navigation of a Multi-robot System

Lichtenstern, Michael and Angermann, Michael and Frassl, Martin and Berthold, Gunther and Julian, Brian J. and Rus, Daniela (2013) Pose and Paste - An Intuitive Interface for Remote Navigation of a Multi-robot System. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3.-7. Nov. 2013, Tokyo, Japan.

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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.

Item URL in elib:https://elib.dlr.de/83460/
Document Type:Conference or Workshop Item (Speech)
Additional Information:NTF Award for Entertainment Robots and Systems
Title:Pose and Paste - An Intuitive Interface for Remote Navigation of a Multi-robot System
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lichtenstern, Michaelm.lichtenstern (at) dlr.deUNSPECIFIED
Angermann, Michaelmichael.angermann (at) dlr.deUNSPECIFIED
Frassl, Martinmartin.frassl (at) dlr.deUNSPECIFIED
Berthold, Gunthergunther.berthold (at) dlr.deUNSPECIFIED
Julian, Brian J.bjulian (at) csail.mit.eduUNSPECIFIED
Rus, Danielarus (at) csail.mit.eduUNSPECIFIED
Date:November 2013
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:remote navigation, intuitive teleoperation, multi-agent system
Event Title:2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Tokyo, Japan
Event Type:international Conference
Event Dates:3.-7. Nov. 2013
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Projekt VABENE (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Lichtenstern, Michael
Deposited On:20 Nov 2013 08:40
Last Modified:31 Jul 2019 19:41

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