Effects of increasing autonomy on tele-operation performance

O’Brien, Barry; Stump, Ethan; Pierce, Cynthia

doi:10.1109/iros.2010.5652709

Cited by 3 publications

(3 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Other lines of work have explored the performance effects of adding autonomous behaviors to a teleoperation system in the context of rescue missions (O'Brien et al, 2010).…”

Section: Shared Autonomymentioning

confidence: 99%

Director: A User Interface Designed for Robot Operation with Shared Autonomy

Marion¹,

Fallon²,

Deits³

et al. 2018

Springer Tracts in Advanced Robotics

View full text Add to dashboard Cite

Operating a high degree of freedom mobile manipulator, such as a humanoid, in a field scenario requires constant situational awareness, capable perception modules, and effective mechanisms for interactive motion planning and control. A well-designed operator interface presents the operator with enough context to quickly carry out a mission and the flexibility to handle unforeseen operating scenarios robustly. By contrast, an unintuitive user interface can increase the risk of catastrophic operator error by overwhelming the user with unnecessary information. With these principles in mind, we present the philosophy and design decisions behind Director-the open-source user interface developed by Team MIT to pilot the Atlas robot in the DARPA Robotics Challenge (DRC). At the heart of Director is an integrated task execution system that specifies sequences of actions needed to achieve a substantive task, such as drilling a wall or climbing a staircase. These task sequences, developed a priori, make online queries to automated perception and planning algorithms with outputs that can be reviewed by the operator and executed by our whole-body controller. Our use of Director at the DRC resulted in efficient high-level task operation while being fully competitive with approaches focusing on teleoperation by highly-trained operators. We discuss the primary interface elements that comprise the Director and provide analysis of its successful use at the DRC.

show abstract

“…Other lines of work have explored the performance effects of adding autonomous behaviors to a teleoperation system in the context of rescue missions (O'Brien et al, 2010).…”

Section: Shared Autonomymentioning

confidence: 99%

Director: A User Interface Designed for Robot Operation with Shared Autonomy

Marion¹,

Fallon²,

Deits³

et al. 2018

Springer Tracts in Advanced Robotics

View full text Add to dashboard Cite

show abstract

“…The PackBot Explorer payload has a rotating pan and tilt head equipped with multiple cameras, which was kept in a fixed position for this experiment. The robot was also equipped with a Hokuyo laser detection and ranging (LADAR) sensor used to provide obstacle detection and avoidance capabilities (O'Brien et al, 2010). These capabilities were available to the operator during the indoor trials of the experiment.…”

Section: Packbot Robotmentioning

confidence: 99%

Scalability of Robotic Controllers: An Evaluation of Controller Options-Experiment II

Pettitt¹,

Carstens²,

Redden³

2011

View full text Add to dashboard Cite

Approved for public release; distribution unlimited.ii REPORT DOCUMENTATION PAGE Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing the burden, to Department of Defense, Washington Headquarters Services, Directorate for Information Operations and Reports (0704-0188), 1215 Jefferson Davis Highway, Suite 1204, Arlington, VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to any penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number.

show abstract

“…Other lines of work have explored the performance effects of adding autonomous behaviors to a teleoperation system in the context of rescue missions (O'Brien, Stump, & Pierce, ).…”

Section: Introductionmentioning

confidence: 99%

Director: A User Interface Designed for Robot Operation with Shared Autonomy

Marion

Fallon

Deits

et al. 2016

Journal of Field Robotics

View full text Add to dashboard Cite

Operating a high degree of freedom mobile manipulator, such as a humanoid, in a field scenario requires constant situational awareness, capable perception modules, and effective mechanisms for interactive motion planning and control. A well‐designed operator interface presents the operator with enough context to quickly carry out a mission and the flexibility to handle unforeseen operating scenarios robustly. By contrast, an unintuitive user interface can increase the risk of catastrophic operator error by overwhelming the user with unnecessary information. With these principles in mind, we present the philosophy and design decisions behind Director—the open‐source user interface developed by Team MIT to pilot the Atlas robot in the DARPA Robotics Challenge (DRC). At the heart of Director is an integrated task execution system that specifies sequences of actions needed to achieve a substantive task, such as drilling a wall or climbing a staircase. These task sequences, developed a priori, make online queries to automated perception and planning algorithms with outputs that can be reviewed by the operator and executed by our whole‐body controller. Our use of Director at the DRC resulted in efficient high‐level task operation while being fully competitive with approaches focusing on teleoperation by highly trained operators. We discuss the primary interface elements that comprise Director, and we provide an analysis of its successful use at the DRC.

show abstract

Effects of increasing autonomy on tele-operation performance

Cited by 3 publications

References 21 publications

Director: A User Interface Designed for Robot Operation with Shared Autonomy

Director: A User Interface Designed for Robot Operation with Shared Autonomy

Scalability of Robotic Controllers: An Evaluation of Controller Options-Experiment II

Director: A User Interface Designed for Robot Operation with Shared Autonomy

Contact Info

Product

Resources

About