Benchmarking Tether-based UAV Motion Primitives

Xiao, Xuesu; Dufek, Jan; Murphy, Robin R.

doi:10.1109/ssrr.2019.8848946

Cited by 17 publications

(11 citation statements)

References 12 publications

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“…While beyond the scope of this dissertation, it is expected the model will reduce the cognitive workload on the primary robot operator. The model will enable to make the robotic visual assistant autonomous eliminating the need for the primary robot operator to manually control the robotic visual assistant or to coordinate with a secondary operator [21,22,23,24,25,26,27,28,29,30].…”

Section: Stabilitymentioning

confidence: 99%

“…A robotic visual assistant can use the model to first autonomously select a viewpoint while balancing the value of the viewpoint with the risk associated with being at that viewpoint and getting to that viewpoint and second to plan a path to that viewpoint while balancing the value of views provided while on the path with the associated risk. In our previous work, visual servoing [21], localization [22], path following [23], and motion planning [24] was developed for autonomous indoor flight of a small UAS tethered to a primary ground robot to be able to visually assist the primary robot. In [25,26] a formal robot motion risk reasoning framework was proposed enabling to quantify locale-dependent, action-dependent, and traversedependent risk for the robotic visual assistant.…”

Section: Introductionmentioning

confidence: 99%

“…Out of the 32 studies that had experiments the following 5 kinds of metrics were used (studies might have used more than one metric). The most common metric was the time to complete a task used by23 out of 32 studies [101, 2, 84, 104, 103, 102, 81, 79, 94, 80, 105, 106, 92, 93, 38, 39, 40, 41, 35, 36, 20, 42, 95].…”

mentioning

confidence: 99%

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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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Section: Stabilitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Best Viewpoints for External Robots or Sensors Assisting Other Robots

Dufek

Xiao

Murphy

2021

IEEE Trans. Human-Mach. Syst.

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“…To the author's best knowledge, no motion planning and execution algorithms for autonomous flight of tethered UAV in indoor unstructured or confined environments exist in the current literature. In this work, our visual assistant aims at utilizing the advantages and mitigating the disadvantages brought by the tether, in terms of tether-based indoor localization (Xiao et al, 2018b), motion primitives (Xiao et al, 2019a), and environment contact planning (Xiao et al, 2018a).…”

Section: Aerial Robots With Tethermentioning

confidence: 99%

Tethered Aerial Visual Assistance

Xiao¹,

Dufek²,

Murphy³

2020

Preprint

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In this paper, an autonomous tethered Unmanned Aerial Vehicle (UAV) is developed into a visual assistant in a marsupial co-robots team, collaborating with a tele-operated Unmanned Ground Vehicle (UGV) for robot operations in unstructured or confined environments. These environments pose extreme challenges to the remote tele-operator due to the lack of sufficient situational awareness, mostly caused by the unstructuredness and confinement, stationary and limited field-of-view and lack of depth perception from the robot's onboard cameras. To overcome these problems, a secondary tele-operated robot is used in current practices, who acts as a visual assistant and provides external viewpoints to overcome the perceptual limitations of the primary robot's onboard sensors. However, a second tele-operated robot requires extra manpower and teamwork demand between primary and secondary operators. The manually chosen viewpoints tend to be subjective and sub-optimal. Considering these intricacies, we develop an autonomous tethered aerial visual assistant in place of the secondary tele-operated robot and operator, to reduce human robot ratio from 2:2 to 1:2. Using a fundamental viewpoint quality theory, a formal risk reasoning framework, and a newly developed tethered motion suite, our visual assistant is able to autonomously navigate to good-quality viewpoints in a risk-aware manner through unstructured or confined spaces with a tether. The developed marsupial co-robots team could improve tele-operation efficiency in nuclear operations, bomb squad, disaster robots, and other domains with novel tasks or highly occluded environments, by reducing manpower and teamwork demand, and achieving better visual assistance quality with trustworthy riskaware motion.

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“…Therefore, the visual assistant's camera is pointing toward the point of interest along the entire motion sequence [11,4]. [12] reports detailed benchmarking results of the motion primitives.…”

Section: Motion Primitivesmentioning

confidence: 99%

Visual servoing for teleoperation using a tethered UAV

Xiao

Dufek

Murphy

2017

2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)

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This paper develops an autonomous tethered aerial visual assistant for robot operations in unstructured or confined environments. Robotic tele-operation in remote environments is difficult due to lack of sufficient situational awareness, mostly caused by the stationary and limited field-of-view and lack of depth perception from the robot's onboard camera. The emerging state of the practice is to use two robots, a primary and a secondary that acts as a visual assistant to overcome the perceptual limitations of the onboard sensors by providing an external viewpoint. However, problems exist when using a tele-operated visual assistant: extra manpower, manually chosen suboptimal viewpoint, and extra teamwork demand between primary and secondary operators. In this work, we use an autonomous tethered aerial visual assistant to replace the secondary robot and operator, reducing human robot ratio from 2:2 to 1:2. This visual assistant is able to autonomously navigate through unstructured or confined spaces in a risk-aware manner, while continuously maintaining good viewpoint quality to increase the primary operator's situational awareness. With the proposed co-robots team, tele-operation missions in nuclear operations, bomb squad, disaster robots, and other domains with novel tasks or highly occluded environments could benefit from reduced manpower and teamwork demand, along with improved visual assistance quality based on trustworthy risk-aware motion in cluttered environments.

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Benchmarking Tether-based UAV Motion Primitives

Cited by 17 publications

References 12 publications

Best Viewpoints for External Robots or Sensors Assisting Other Robots

Best Viewpoints for External Robots or Sensors Assisting Other Robots

Tethered Aerial Visual Assistance

Visual servoing for teleoperation using a tethered UAV

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