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Intelligent User Interface for Multi-Robot Search

Shahar Kosti. Intelligent User Interface for Multi-Robot Search. Master's Thesis, Bar Ilan University,2013.

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Abstract

Human-Robot Interaction (HRI) is an important part of many robotic systems, in particular systems designed for search or exploration missions. The traditional HRI methods of controlling a single robot by an operator have their shortcomings, for example the need to continuously monitor a live (synchronous) video display. When the number of robots in the system increases, the traditional methods are even harder to apply, especially when attempting to display camera imagery from multiple robots. In this work, we present an asynchronous and user-guided interface for operators of a robotic system, supporting exploration (search) of an unknown area. Focusing on Unmanned Ground Vehicles and Urban Search and Rescue missions, we describe a novel asynchronous interface and operation scheme. With our interface, the operator is able to cover the recorded imagery of a given indoor environment, by selecting points of interest on a map and watching highly-relevant images that cover it. We evaluated our interface by comparing it with the state-of-the-art asynchronous interface, and found it to perform better under certain conditions, in terms of found targets.

Additional Information

BibTeX

@MastersThesis{shahar-msc,
author = {Shahar Kosti},
title = {Intelligent User Interface for Multi-Robot Search},
school = {{B}ar {I}lan {U}niversity},
year = {2013},
OPTkey = {},
OPTtype = {},
OPTaddress = {},
OPTmonth = {},
OPTnote = {Available at \url{http://www.cs.biu.ac.il/~galk/Publications/b2hd-shahar-msc.html}},
OPTannote = {},
  wwwnote = {}, 
  abstract = {
Human-Robot Interaction (HRI) is an important part of many robotic systems, in particular 
systems designed for search or exploration missions. The traditional HRI methods of controlling 
a single robot by an operator have their shortcomings, for example the need to continuously 
monitor a live (synchronous) video display. When the number of robots in the system increases, the 
traditional methods are even harder to apply, especially when attempting to display camera 
imagery from multiple robots. In this work, we present an asynchronous and user-guided interface 
for operators of a robotic system, supporting exploration (search) of an unknown area. Focusing 
on Unmanned Ground Vehicles and Urban Search and Rescue missions, we describe a novel 
asynchronous interface and operation scheme. With our interface, the operator is able to cover 
the recorded imagery of a given indoor environment, by selecting points of interest on a map and 
watching highly-relevant images that cover it. We evaluated our interface by comparing it with the 
state-of-the-art asynchronous interface, and found it to perform better under certain conditions, in 
terms of found targets.
   },
}

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