Frauke Driewer

Analysis and Characterization of the PMD Camera for Application in Mobile Robotics

Abstract Three-dimensional perception of the environment offers significant potential to improve navigation solutions for mobile systems. The Pixel-Mixed-Device Technology (PMD) offers here a small, light-weight camera generating 3-D images, based on time-of-flight measurements. This contribution analyzes the sensor characteristics and application potential for mobile robots. Specific aspects related to parameter optimization and limitations in measurements are discussed on basis of performance tests. In particular, range images in unstructured and changing scenes are of interest. Specific properties of mobile systems are taken into account to generate appropriate range images for navigation and mapping tasks in robotic applications. Related adaptations of integration time and methods to percept consistent distances are derived and characterized by tests.

Robot–human rescue teams: a user requirements analysis

Time-critical operations of equipment in emergencies require efficient human–machine interaction. In order to evaluate and rank the factors affecting search and rescue activities in emergencies, a requirements analysis among this professional community has been performed. The analyses presented here focus on cooperating robot–human teams. They have been performed on the basis of questionnaires and personal interviews with professionals in search and rescue from Germany, Finland and the Czech Republic. This includes professional fire fighters, plant fire brigades (nuclear power plants, airports, chemical factories), governmental disaster relief organizations and the military. The analyses identify the end-user requirements and provide guidelines for the development of rescue systems. On this basis, a system design for human–robot teams has been derived, with particular emphasis on telerobotics interface implemenation.

Robot/Human Interfaces for Rescue Teams

Abstract Mobile robots can be of significant support for human teams in search and rescue situations. A user requirement analysis on basis of questionnaires distributed to fire fighters and emergency support people expresses notable interest in sending teleoperated robots into dangerous areas instead of risking human life. This paper summarises the requirements and the consequences for a telematic system with an intuitive user interface, which supports quick reaction capabilities. Design and implementation of an infrastructure addressing data flow in joint teams of humans and robots for data sharing, teleoperations and remote coordination are presented. Furthermore, robot vehicles used in that context and test scenarios are described.

Human-computer interaction in the PeLoTe rescue system

Interaction between human rescue workers and rescue systems provide a great challenge. The proposed system involves mobile robots that explore the emergency area, in order to reduce the risk for human life and a localization system for the human rescuers. Human and robotic team members are supported, guided and coordinated by a supervisor. Remote sensor data acquired by the team members as well as a priori information about environment and efficient, intuitive user interfaces provide the basis for decisions. This paper describes the designed graphical user interfaces and the experiments that where performed together with test participants, fire fighters as well as non fire fighters. In particular, results of a demonstration in a fire training house are summarized.

REMOTE CONTROL OF MOBILE ROBOTS FOR EMERGENCIES

Abstract In emergency situations, rescue teams combined of humans and robots in place, as well as tele-operators to coordinate the activities from a remote location need to complement each other. This contribution addresses specific aspects of the tele-operator to remotely control the robots. Aspects to be analyzed are related to remote sensor data acquisition, as well as to data transfer in the distributed system of remote and in place team members. Appropriate user interfaces for the tele-operator are to be provided, filtering the input information. The use of telepresence methods in this context provides an intuitive user interface for the remote operator and the team members in place. It enables a quick overview of the situation in order to select under time pressure most appropriate strategies.

Design and evaluation of an user interface for the coordination of a group of mobile robots

Humans and robots can combine their complementary capabilities in joint teams. This requires appropriate support systems and related user interfaces. This paper presents an approach, how to organize and present information to support a human supervisor in coordinating a small group of mobile robots or a human-robot team. The user interface enables the human to keep track about the current status of the different entities, the overall mission and all important information already gathered at the current stage. The described experiment evaluates the presented approach and different information presentation methods (messages vs. autonomous updates) are compared.

DESIGN AND EVALUATION OF A TELEOPERATION INTERFACE FOR HETEROGENEOUS HUMAN-ROBOT TEAMS

Abstract Mobile robots can significantly support human teams in dangerous environments in order to reduce risks. Joint teams of humans and robots take advantage of complementary capabilities in navigation, search and planning. Remote coordination of such teams needs efficient teleoperation interfaces. Mixed reality approaches for remote coordination for human-robot teams are investigated. Evaluation results are presented from first experiments.

POTENTIAL AND CHALLENGES OF STEREO AUGMENTED REALITY FOR MOBILE ROBOT TELEOPERATION

Abstract In many mobile robot applications a human operator is still required to control the robot. The design of the user interface is the major element affecting the performance and efficiency of the task execution in the teleoperation scenario. This work investigates an approach to visualize all information gathered by the mobile robot in an integrated fashion by applying stereo augmented reality. Initial experiences and results with this type of interface for navigation tasks are presented.

MIXED REALITY FOR TELEOPERATION OF MOBILE ROBOTS IN SEARCH AND RESCUE SCENARIOS

Abstract Mobile robots can support human rescue workers to accomplish tasks in dangerous areas and locations of difficult access. The remotely operated rovers characterize the environment with their sensors. Telepresence methods are employed to present collected information and a-priori known information efficiently to an operator, who controls multiple mobile robots. In this paper, a user interface that combines two-dimensional and three-dimensional stereo visualization of related information from the remote environment using a mixed reality approach is presented. The implemented system architecture and system features are described.

Communication and Data Sharing in Human-Robot Heterogenous Teams

Abstract Nowadays, there exists a great interest in development of mobile and teleoperated or even autonomous robots, which could replace humans in dangerous tasks. Information management and system architecture in these can stand for a difficult issue even with a single teleoperated robot. Considering a system of multiple human and robot entities working together in teams at different locations, complexity of information management rapidly grows. This paper sketches an information exchange and handling design in heterogenous human-robot teams, employing teleoperation of semi-autonomous robots and humans in rescue test-cases. The paper addresses analysis of the system design as well as particular tasks specifics connected with this issue.