期刊
FRONTIERS IN ROBOTICS AND AI
卷 6, 期 -, 页码 -出版社
FRONTIERS MEDIA SA
DOI: 10.3389/frobt.2019.00095
关键词
teleoperation systems; telerobotics; interactive scene topology; scene abstraction; indoor exploration tasks; search and rescue; unmanned aerial vehicles - UAV
类别
资金
- Austrian Science Fund (FWF) [I1681]
- Swiss National Science Foundation [UFO 200021L_153644]
- Swiss National Science Foundation (SNF) [200021L_153644] Funding Source: Swiss National Science Foundation (SNF)
- Austrian Science Fund (FWF) [I1681] Funding Source: Austrian Science Fund (FWF)
Exploration of challenging indoor environments is a demanding task. While automation with aerial robots seems a promising solution, fully autonomous systems still struggle with high-level cognitive tasks and intuitive decision making. To facilitate automation, we introduce a novel teleoperation system with an aerial telerobot that is capable of handling all demanding low-level tasks. Motivated by the typical structure of indoor environments, the system creates an interactive scene topology in real-time that reduces scene details and supports affordances. Thus, difficult high-level tasks can be effectively supervised by a human operator. To elaborate on the effectiveness of our system during a real-world exploration mission, we conducted a user study. Despite being limited by real-world constraints, results indicate that our system better supports operators with indoor exploration, compared to a baseline system with traditional joystick control.
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