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Conference Paper

A visual and force feedback for multi-robot teleoperation in outdoor environments: A preliminary result

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Bülthoff,  HH
Max Planck Institute for Biological Cybernetics, Max Planck Society;
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6630765
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Citation

Hong, A., Bülthoff, H., & Son, H. (2013). A visual and force feedback for multi-robot teleoperation in outdoor environments: A preliminary result. In IEEE International Conference on Robotics and Automation (ICRA 2013) (pp. 1471-1478). Piscataway, NJ, USA: IEEE.


Cite as: https://hdl.handle.net/21.11116/0000-0001-4AF7-6
Abstract
For teleoperation of multiple mobile robots (e.g., unmanned aerial vehicles), a better situational awareness of remote environments is crucial for good performance. Visual and force feedback are the most common ways to perceive the environments accurately using a vision system and a haptic device, respectively. In outdoor environments, however, it is difficult to use adequate/accurate sensors (e.g., global localization system) for haptic feedback of the remote environments as well as the slave robots. In this paper, we propose a visual and force feedback method to enhance a human operator's situational awareness in multi-robot teleoperation by fabricating a global view of the multi-robot system and transmitting velocity information of one, respectively, using only local information of the robots. The proposed visual feedback method, then, is evaluated via two psychophysical experiments: maneuvering and searching tests. Several measures are also proposed to assess the human operator's maneuverability and situational awareness quantitatively.