Adaptive View Management for Drone Teleoperation in Complex 3D Structures

Thomason, John; Ratsamee, Photchara; Kiyokawa, Kiyoshi; Kriangkomol, Pakpoom; Orlosky, Jason; Mashita, Tomohiro; Uranishi, Yuki; Takemura, Haruo

doi:10.1145/3025171.3025179

Cited by 18 publications

(9 citation statements)

References 9 publications

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“…As an alternative to UAV navigation from egocentric views, direct commands can be issued in an adaptive exocentric perspective (Saakes et al, 2013;Thomason et al, 2017Thomason et al, , 2019 or from a 3D map view (Materna et al, 2017). The exocentric view can improve the operator's understanding of the environment and further increase safety and task performance.…”

Section: Graphical User Interfacesmentioning

confidence: 99%

“…This raises the interesting question, if the performance of our teleoperation system is also preserved when put into practice. Compared to a variety of related teleoperation systems with similar mission complexity (Cho et al, 2017 ; Riestock et al, 2017b ; Thomason et al, 2017 ), we evaluate the performance of our system with a user study under real-world constraints (section 6.1).…”

Section: Related Workmentioning

confidence: 99%

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High-Level Teleoperation System for Aerial Exploration of Indoor Environments

et al. 2019

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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.

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Section: Graphical User Interfacesmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

High-Level Teleoperation System for Aerial Exploration of Indoor Environments

et al. 2019

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“…The robotic visual assistant selected a view to keep all the objects of interests (e.g., manipulated objects, robot, obstacles) in its field of view while reasoning about the composition of the objects in the view. The second was based on the geometry of the environment, task, or robot [31,32,33,34,35,36,20,104,105,106]. The robotic visual assistant selected a view that was not occluded by the environment or provided additional geometrical information about the relation of the environment to the primary robot or task.…”

Section: Deliberative Autonomous Visual Assistantsmentioning

confidence: 99%

Best Viewpoints for External Robots or Sensors Assisting Other Robots

Dufek

Xiao

Murphy

2021

IEEE Trans. Human-Mach. Syst.

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This dissertation creates a model of the value of different external viewpoints of a robot performing tasks. The current state of the practice is to use a teleoperated assistant robot to provide a view of a task being performed by a primary robot. However, there is no existing model of the value of different external viewpoints and the choice of viewpoints is ad hoc not always leading to improved performance. This research develops the model using a psychomotor approach based REFERENCES .

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“…Other flight interfaces address the problem of collisionfree navigation by introducing exocentric views on the UAV and the surrounding scene. For example, Thomasson et al [8] enable a remote operator to navigate a UAV inside complex 3D structures. They combine a virtual exocentric view onto the UAV and further add an adaptive view method to improve SA and to avoid collisions.…”

Section: Related Workmentioning

confidence: 99%

Force Field-Based Indirect Manipulation Of UAV Flight Trajectories

Isop

Fraundorfer

2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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For a variety of applications remote navigation of an unmanned aerial vehicle (UAV) along a flight trajectory is an essential task. For instance, during search and rescue missions in outdoor scenes, an important goal is to ensure safe navigation. Assessed by the remote operator, this could mean avoiding collisions with obstacles, but moreover avoiding hazardous flight areas. State of the art approaches enable navigation along trajectories, but do not allow for indirect manipulation during motion. In addition, they suggest to use egocentric views which could limit understanding of the remote scene. With this work we introduce a novel indirect manipulation method, based on gravitational law, to recover safe navigation in the presence of hazardous flight areas. The indirect character of our method supports manipulation at far distances where common direct manipulation methods typically fail. We combine it with an immersive exocentric view to improve understanding of the scene. We designed three flavors of our method and compared them during a user study in a simulated scene. While with this method we present a first step towards a more extensive navigation interface, as future work we plan experiments in dynamic real-world scenes.

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Adaptive View Management for Drone Teleoperation in Complex 3D Structures

Cited by 18 publications

References 9 publications

High-Level Teleoperation System for Aerial Exploration of Indoor Environments

High-Level Teleoperation System for Aerial Exploration of Indoor Environments

Best Viewpoints for External Robots or Sensors Assisting Other Robots

Force Field-Based Indirect Manipulation Of UAV Flight Trajectories

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