Mobile robots are becoming safer and more affordable, and their presence in the workspace is increasing. However, many tasks that involve reasoning, long-term planning or human preferences are still hard to automate. While some solutions in specialised areas slowly emerge, an alternative to full autonomy can be to actively leverage intuition and experience of human operators. To do this, suitable interfaces and modes of interaction have to be explored. Inspired by Real-Time Strategy games, we implement a Mixed Reality interface that can be used with either a Microsoft HoloLens 2 headset or a tablet. The interface allows users to interact with multiple mobile robots simultaneously. We conduct a user study to compare the headset and tablet versions of the interface in different scenarios inspired by a real-world construction setting. We show that, while performance and preference of interface are dependent on the task and the complexity of the required interaction, users are able to solve non-trivial tasks on both platforms using our system.
|Title of host publication||Proceedings - ICRA 2023|
|Subtitle of host publication||IEEE International Conference on Robotics and Automation|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||7|
|State||Published - 2023|
|Event||2023 IEEE International Conference on Robotics and Automation, ICRA 2023 - London, United Kingdom|
Duration: 29 May 2023 → 2 Jun 2023
|Name||Proceedings - IEEE International Conference on Robotics and Automation|
|Conference||2023 IEEE International Conference on Robotics and Automation, ICRA 2023|
|Period||29/05/23 → 2/06/23|
Bibliographical noteFunding Information:
1 The authors are with the Department of Computer Science, ETH Zurich, 8092 Zurich, Switzerland. email@example.com; firstname.lastname@example.org; email@example.com 2Roi Poranne is with the Department of Computer Science, University of Haifa, Haifa, Israel. firstname.lastname@example.org This work was partially supported by the Hilti group and Microsoft.
© 2023 IEEE.
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
- Artificial Intelligence