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