Evaluation of mapping with a tele-operated robot with video feedback
2006 (English)In: Proc. IEEE Int. Workshop Robot Human Interact. Commun., 2006, 164-170 p.Conference paper (Refereed)
This research has examined robot operators' abilities to gain situational awareness while performing teleoperation with video feedback. The research included a user study in which 20 test persons explored and drew a map of a corridor and several rooms, which they had not visited before. Half of the participants did the exploration and mapping using a teleoperated robot (IRobot PackBot) with video feedback but without being able to see or enter the exploration area themselves. The other half fulfilled the task manually by walking through the premises. The two groups were evaluated regarding time consumption and the rendered maps were evaluated concerning error rate and dimensional and logical accuracy. Dimensional accuracy describes the test person's ability to estimate and reproduce dimensions in the map. Logical accuracy refers to missed, added, misinterpreted, reversed and inconsistent objects or shapes in the depiction. The evaluation showed that fulfilling the task with the robot on average took 96% longer time and rendered 44% more errors than doing it without the robot. Robot users overestimated dimensions with an average of 16% while non-robot users made an average overestimation of 1%. Further, the robot users had a 69% larger standard deviation in their dimensional estimations and on average made 23% more logical errors during the test.
Place, publisher, year, edition, pages
2006. 164-170 p.
, Proceedings - IEEE International Workshop on Robot and Human Interactive Communication
Conformal mapping, Errors, Reverse osmosis, Robots, Dimensional accuracies, Error rates, Logical errors, Robot operators, Situational awarenesses, Standard deviations, Tele operations, Teleoperated robots, Time consumptions, User studies, Video feedbacks, Walking through, Robotics
IdentifiersURN: urn:nbn:se:kth:diva-155377DOI: 10.1109/ROMAN.2006.314412ScopusID: 2-s2.0-48349095241ISBN: 1424405653ISBN: 9781424405657OAI: oai:DiVA.org:kth-155377DiVA: diva2:761935
RO-MAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication, 6-8 September 2006, Hatfield, United Kingdom
QC 201411102014-11-102014-11-052014-11-10Bibliographically approved