High-Level Teleoperation System For Aerial Exploration Of Indoor Environments

Werner Alexander Isop, Christoph Gebhardt, Tobias Nägeli, Friedrich Fraundorfer, Otmar Hilinges, Dieter Schmalstieg

Research output: Contribution to journalArticlepeer-review


Exploration of challenging indoor environments is a demanding task. While automation with aerial robots seems a promising solution, fully autonomous systems still struggle with high-level cognitive tasks and intuitive decision making. To facilitate automation, we introduce a novel teleoperation system with an aerial telerobot that is capable of handling all demanding low-level tasks. Motivated by the typical structure of indoor environments, the system creates an interactive scene topology in real-time that reduces scene details and supports affordances. Thus, difficult high-level tasks can be effectively supervised by a human operator. To elaborate on the effectiveness of our system during a real-world exploration mission, we conducted a user study. Despite being limited by real-world constraints, results indicate that our system better supports operators with indoor exploration, compared to a baseline system with …
Original languageEnglish
Article number95
Number of pages22
JournalFrontiers in Robotics and AI
Publication statusPublished - 2019


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