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Free Look UGV Teleoperation Control Tested in Game Environment: Enhanced Performance and Reduced Workload
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-0483-8391
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-6716-1111
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2016 (English)In: International Symposium on Safety,Security and Rescue Robotics, 2016Conference paper, Published paper (Refereed)
Abstract [en]

Concurrent telecontrol of the chassis and camera ofan Unmanned Ground Vehicle (UGV) is a demanding task forUrban Search and Rescue (USAR) teams. The standard way ofcontrolling UGVs is called Tank Control (TC), but there is reasonto believe that Free Look Control (FLC), a control mode used ingames, could reduce this load substantially by decoupling, andproviding separate controls for, camera translation and rotation.The general hypothesis is that FLC (1) reduces robot operators’workload and (2) enhances their performance for dynamic andtime-critical USAR scenarios. A game-based environment wasset-up to systematically compare FLC with TC in two typicalsearch and rescue tasks: navigation and exploration. The resultsshow that FLC improves mission performance in both exploration(search) and path following (navigation) scenarios. In the former,more objects were found, and in the latter shorter navigationtimes were achieved. FLC also caused lower workload and stresslevels in both scenarios, without inducing a significant differencein the number of collisions. Finally, FLC was preferred by 75% of the subjects for exploration, and 56% for path following.

Place, publisher, year, edition, pages
2016.
Keywords [en]
Teleoperation, UGV, Search and Rescue, First Response, Disaster Response, FPS, Computer Game
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-192941DOI: 10.1109/SSRR.2016.7784321ISI: 000391310800053Scopus ID: 2-s2.0-85009804146OAI: oai:DiVA.org:kth-192941DiVA, id: diva2:974494
Conference
International Symposium on Safety, Security and Rescue Robotics, Lausanne, October 23-27th, 2016
Projects
TRADR
Funder
EU, FP7, Seventh Framework Programme, FP7-ICT-609763
Note

QC 20161212

Available from: 2016-09-26 Created: 2016-09-23 Last updated: 2018-04-11Bibliographically approved
In thesis
1. Enhancing geometric maps through environmental interactions
Open this publication in new window or tab >>Enhancing geometric maps through environmental interactions
2018 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

The deployment of rescue robots in real operations is becoming increasingly commonthanks to recent advances in AI technologies and high performance hardware. Rescue robots can now operate for extended period of time, cover wider areas andprocess larger amounts of sensory information making them considerably more usefulduring real life threatening situations, including both natural or man-made disasters.

In this thesis we present results of our research which focuses on investigating ways of enhancing visual perception for Unmanned Ground Vehicles (UGVs) through environmental interactions using different sensory systems, such as tactile sensors and wireless receivers.

We argue that a geometric representation of the robot surroundings built upon vision data only, may not suffice in overcoming challenging scenarios, and show that robot interactions with the environment can provide a rich layer of new information that needs to be suitably represented and merged into the cognitive world model. Visual perception for mobile ground vehicles is one of the fundamental problems in rescue robotics. Phenomena such as rain, fog, darkness, dust, smoke and fire heavily influence the performance of visual sensors, and often result in highly noisy data, leading to unreliable or incomplete maps.

We address this problem through a collection of studies and structure the thesis as follow:Firstly, we give an overview of the Search & Rescue (SAR) robotics field, and discuss scenarios, hardware and related scientific questions.Secondly, we focus on the problems of control and communication. Mobile robotsrequire stable communication with the base station to exchange valuable information. Communication loss often presents a significant mission risk and disconnected robotsare either abandoned, or autonomously try to back-trace their way to the base station. We show how non-visual environmental properties (e.g. the WiFi signal distribution) can be efficiently modeled using probabilistic active perception frameworks based on Gaussian Processes, and merged into geometric maps so to facilitate the SAR mission. We then show how to use tactile perception to enhance mapping. Implicit environmental properties such as the terrain deformability, are analyzed through strategic glancesand touches and then mapped into probabilistic models.Lastly, we address the problem of reconstructing objects in the environment. Wepresent a technique for simultaneous 3D reconstruction of static regions and rigidly moving objects in a scene that enables on-the-fly model generation. Although this thesis focuses mostly on rescue UGVs, the concepts presented canbe applied to other mobile platforms that operates under similar circumstances. To make sure that the suggested methods work, we have put efforts into design of user interfaces and the evaluation of those in user studies.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2018. p. 58
Series
TRITA-EECS-AVL ; 2018:26
Keywords
Gaussian Processes Robotics UGV Active perception geometric maps
National Category
Engineering and Technology
Research subject
Computer Science
Identifiers
urn:nbn:se:kth:diva-225957 (URN)978-91-7729-720-8 (ISBN)
Public defence
2018-04-18, F3, Lindstedtsvägen 26, Sing-Sing, floor 2, KTH Campus, Stockholm, 10:00 (English)
Opponent
Supervisors
Funder
EU, FP7, Seventh Framework Programme
Note

QC 20180411

Available from: 2018-04-11 Created: 2018-04-11 Last updated: 2018-04-11Bibliographically approved

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Publisher's full textScopushttps://ras.papercept.net/conferences/conferences/SSRR16/program/

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Båberg, FredrikCaccamo, Sergio

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