View Point Decision Algorithm for an Autonomous Robot to Provide Support Images in the Operability of a Teleoperated Robot

Maeyama, Shoichi; Okuno, Teppei; Watanabe, Keigo

doi:10.9746/jcmsi.9.33

Cited by 8 publications

(3 citation statements)

References 5 publications

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“…Similar strategies have been used for UAV teleoperation, such as creating a third-person view of the UAV in the remote environment, for example, by a second robot following a primary robot [34,35]. Third-person views of UAVs can also be generated from image rendering techniques using omni-directional cameras to improve UAV navigation in enclosed or unknown environments [36,37].…”

Section: Methodsmentioning

confidence: 99%

The Effects of Interface Views on Performing Aerial Telemanipulation Tasks Using Small UAVs

Young

Lanciloti

Peschel

2021

Int J of Soc Robotics

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This paper presents a human-robot interaction (HRI) study of a dedicated Mission Specialist interface for performing telemanipulation tasks using a small unpiloted aerial vehicle (UAV). Current literature suggests that the successful completion of aerial manipulation tasks in real-world environments requires human input due to challenges in autonomous perception and control. Visual information of the remote environment in a telemanipulation interface can significantly affect performance under direct control; however, the effects of interface visualizations on task performance have not been studied for UAV telemanipulation. This work evaluated the effects of interface viewpoint on aerial manipulation task performance. The interface evaluated in this study included video streams from cameras located onboard the UAV, including: i) a manipulator egocentric view, ii) a manipulator exocentric view, and iii) a combination of egocentric and exocentric views. A total of 36 participants completed three different manipulation tasks using all three interface conditions. The observations and results showed that both the exocentric and mixed configurations contributed to improved task performance over an egocentric-

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Section: Methodsmentioning

confidence: 99%

The Effects of Interface Views on Performing Aerial Telemanipulation Tasks Using Small UAVs

Young

Lanciloti

Peschel

2021

Int J of Soc Robotics

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“…Len et al, 2016) left the choice of a viewpoint to humans who were shown to pick suboptimal viewpoints (McKee et al, 2003). (3) Reactive autonomous visual assistants (Triggs and Laugier, 1995;Hershberger et al, 2000;Simmons et al, 2001;Maeyama et al, 2016;Gawel et al, 2018;Sato et al, 2016;Ji et al, 2018;Abi-Farraj et al, 2016;Rakita et al, 2018;Nicolis et al, 2018) only tracked and zoomed on the action ignoring the question of what is the best viewpoint. (4) Deliberative autonomous visual assistants (McKee and Schenker, 1994;Brooks and McKee, 1995;McKee and Schenker, 1995b;McKee and Schenker, 1995a;Brooks and McKee, 2001;Brooks et al, 2002;McKee et al, 2003;Rahnamaei and Sirouspour, 2014;Ito and Sekiyama, 2015;Saran et al, 2017;Samejima and Sekiyama, 2016;Samejima et al, 2018;Rakita et al, 2019;Thomason et al, 2017;Thomason et al, 2019) might be globally optimal in terms of geometry if the work envelope model is available but the existing studies did not consider other attributes, particularly psychophysical aspects when selecting viewpoints.…”

Section: Visual Assistancementioning

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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“…In a conventional work on remote control support systems, Kamezaki et al [9] developed a remote-control support system by using multiple cameras that switched the image depending on the distances between the robots. Maeyama et al [10] proposed a visual support system in which a monitoring robot followed a remote-controlled robot to constantly monitor the rear area of the remote-controlled robot. Neither of these works uses selection criteria for the observation target object.…”

Section: Introductionmentioning

confidence: 99%

Visual support system for remote control by adaptive ROI selection of monitoring robot

2018

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A visual assistance system has become attractive as a technique to improve the efficiency and stability of remote control. While an operator controls a working robot, another autonomous monitoring robot evaluates a suitable viewpoint to observe the work site, and dynamically moves to the optimal viewpoint for monitoring. Choosing the observation region (ROI: region of interest) is equivalent to deciding the action of the following autonomous monitoring system. Therefore, we focus on ROI detection in our visual support system. We propose an ROI selection method to identify the most suitable observation point and interobject relations. The monitoring robot detects a gestalt of the scene in order to identify the relations between objects. Such an adaptive ROI in real time improves the efficiency of the remote control. The experimental results indicate the effectiveness of the proposed system in terms of execution time and number of errors.

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View Point Decision Algorithm for an Autonomous Robot to Provide Support Images in the Operability of a Teleoperated Robot

Cited by 8 publications

References 5 publications

The Effects of Interface Views on Performing Aerial Telemanipulation Tasks Using Small UAVs

The Effects of Interface Views on Performing Aerial Telemanipulation Tasks Using Small UAVs

Tethered Aerial Visual Assistance

Visual support system for remote control by adaptive ROI selection of monitoring robot

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