High-Level Teleoperation System for Aerial Exploration of Indoor Environments
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 syst...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2019-10-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/article/10.3389/frobt.2019.00095/full |
| _version_ | 1819226770552913920 |
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| author | Werner Alexander Isop Christoph Gebhardt Tobias Nägeli Friedrich Fraundorfer Otmar Hilliges Dieter Schmalstieg Dieter Schmalstieg |
| author_facet | Werner Alexander Isop Christoph Gebhardt Tobias Nägeli Friedrich Fraundorfer Otmar Hilliges Dieter Schmalstieg Dieter Schmalstieg |
| author_sort | Werner Alexander Isop |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-23T10:30:46Z |
| format | Article |
| id | doaj.art-fb7e01fcf63b42f589aec20ad7170c34 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-23T10:30:46Z |
| publishDate | 2019-10-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-fb7e01fcf63b42f589aec20ad7170c342022-12-21T17:50:26ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442019-10-01610.3389/frobt.2019.00095444821High-Level Teleoperation System for Aerial Exploration of Indoor EnvironmentsWerner Alexander Isop0Christoph Gebhardt1Tobias Nägeli2Friedrich Fraundorfer3Otmar Hilliges4Dieter Schmalstieg5Dieter Schmalstieg6Institute of Computer Graphics and Vision, Graz University of Technology, Graz, AustriaAdvanced Interactive Technologies Lab, ETH Zürich, Zurich, SwitzerlandAdvanced Interactive Technologies Lab, ETH Zürich, Zurich, SwitzerlandInstitute of Computer Graphics and Vision, Graz University of Technology, Graz, AustriaAdvanced Interactive Technologies Lab, ETH Zürich, Zurich, SwitzerlandInstitute of Computer Graphics and Vision, Graz University of Technology, Graz, AustriaVRVis Research Center, Vienna, AustriaExploration 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.https://www.frontiersin.org/article/10.3389/frobt.2019.00095/fullteleoperation systemsteleroboticsinteractive scene topologyscene abstractionindoor exploration taskssearch and rescue |
| spellingShingle | Werner Alexander Isop Christoph Gebhardt Tobias Nägeli Friedrich Fraundorfer Otmar Hilliges Dieter Schmalstieg Dieter Schmalstieg High-Level Teleoperation System for Aerial Exploration of Indoor Environments Frontiers in Robotics and AI teleoperation systems telerobotics interactive scene topology scene abstraction indoor exploration tasks search and rescue |
| title | High-Level Teleoperation System for Aerial Exploration of Indoor Environments |
| title_full | High-Level Teleoperation System for Aerial Exploration of Indoor Environments |
| title_fullStr | High-Level Teleoperation System for Aerial Exploration of Indoor Environments |
| title_full_unstemmed | High-Level Teleoperation System for Aerial Exploration of Indoor Environments |
| title_short | High-Level Teleoperation System for Aerial Exploration of Indoor Environments |
| title_sort | high level teleoperation system for aerial exploration of indoor environments |
| topic | teleoperation systems telerobotics interactive scene topology scene abstraction indoor exploration tasks search and rescue |
| url | https://www.frontiersin.org/article/10.3389/frobt.2019.00095/full |
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