PostprintThis is the accepted version of a paper published in Autonomous Robots. This paper has been peerreviewed but does not include the final publisher proof-corrections or journal pagination.Citation for the original published paper (version of record):Ögren, P., Svenmarck, P., Lif, P., Norberg, M., Söderbäck, N. (2014) Design and implementation of a new teleoperation control mode for differential drive UGVs. Abstract In this paper, we propose and implement a new control mode for teleoperated Unmanned Ground Vehicles (UGVs), that exploits the similarities between computer games and teleoperation robotics.Today, all teleoperated differential drive UGVs use a control mode called Tank Control, in which the UGV chassis and the pan tilt camera are controlled separately. This control mode was also the dominating choice when the computer game genre First Person Shooter (FPS) first appeared. However, the hugely successful FPS genre, including titles such as Doom, Half Life and Call of Duty, now uses a much more intuitive control mode, Free Look Control (FLC), in which rotation and translation of the character are decoupled, and controlled separately.The main contribution of this paper is that we replace Tank Control with FLC in a real UGV. Using feedback linearization, the orientation of the UGV chassis is abstracted away, and the orientation and translation of the camera are decoupled, enabling the operator to use FLC when controlling the UGV. This decoupling is then experimentally verified.The developments in the gaming community indicates that FLC is more intuitive than Tank Control and reduces the well known situational awareness problem. It furthermore reduces the need for operator training, since literary millions of future operators have already spent hundreds of hours using the interface.

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Aviation is a highly inter-connected system. This means that a problem in one area may cause effects in other countries or parts of the Air Transport System (ATS). Examples range from local air traffic disruptions to the 2010 volcanic ash crisis. Agility, like resilience, refers to the ability to cope with dynamics and complexity in a flexible manner, by adjusting and adapting performance and the organization of work to fit changing demands. The aim of this work is to help ATS organizations with increasing their agility in the face of crises and challenges. To this end, this article presents the Agile Response Capability (ARC) guidance material. ARC was developed from a literature study and a number of case studies that combined past event analysis, interviews, focus groups, workshops, questionnaires, and exercise observation methodologies. ARC aims to help aviation organizations to set up, run, and evaluate exercises promoting agility to handle disturbances and crises, and to enable structured pro-active and retrospective analysis of scenarios and actual events. The elements and steps of the ARC approach are illustrated and exemplified with data from three case studies. The ARC methodology facilitates more agile and resilient ways of responding to the fundamental and novel surprises that have become almost commonplace in the past decade, and are likely to continue to do so.

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