Using a qualitative sketch to control a team of robots

Author

Skubic, Marjorie ; Anderson, Derek ; Blisard, Samuel ; Perzanowski, Dennis ; Schultz, Alan

Author_Institution

Dept. of Electr. & Comput. Eng., Missouri Univ., Columbia, MO

fYear

2006

fDate

15-19 May 2006

Firstpage

3595

Lastpage

3601

Abstract

In this paper, we describe a prototype interface that facilitates the control of a mobile robot team by a single operator, using a sketch interface on a tablet PC. The user sketches a qualitative map of the scene and includes the robots in approximate starting positions. Both path and target position commands are supported as well as editing capabilities. Sensor feedback from the robots is included in the display such that the sketch interface acts as a two-way communication device between the user and the robots. The paper also includes results of a usability study, in which users were asked to perform a series of tasks

Keywords

feedback; mobile robots; multi-robot systems; path planning; telerobotics; user interfaces; mobile robot team; qualitative map; qualitative sketch; sensor feedback; sketch interface; two-way communication device; Computer interfaces; Design engineering; Displays; Layout; Military computing; Mobile robots; Navigation; Prototypes; Robot kinematics; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1642251

Filename

1642251