Isop Werner Alexander, Gebhardt Christoph, Nägeli Tobias, Fraundorfer Friedrich, Hilliges Otmar, Schmalstieg Dieter
Institute of Computer Graphics and Vision, Graz University of Technology, Graz, Austria.
Advanced Interactive Technologies Lab, ETH Zürich, Zurich, Switzerland.
Front Robot AI. 2019 Oct 23;6:95. doi: 10.3389/frobt.2019.00095. eCollection 2019.
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.
探索具有挑战性的室内环境是一项艰巨的任务。虽然使用空中机器人实现自动化似乎是一个很有前景的解决方案，但完全自主的系统在处理高级认知任务和直观决策方面仍存在困难。为了促进自动化，我们引入了一种新型遥操作系统，该系统配备了一个能够处理所有艰巨低级任务的空中遥控机器人。受室内环境典型结构的启发，该系统实时创建一个交互式场景拓扑结构，减少场景细节并支持可供性。因此，困难的高级任务可以由人类操作员进行有效监督。为了详细说明我们的系统在实际探索任务中的有效性，我们进行了一项用户研究。尽管受到现实世界的限制，但结果表明，与具有传统操纵杆控制的基线系统相比，我们的系统在支持操作员进行室内探索方面表现更佳。
