TY - JOUR
T1 - High-Level Teleoperation System For Aerial Exploration Of Indoor Environments
AU - Isop, Werner Alexander
AU - Gebhardt, Christoph
AU - Nägeli, Tobias
AU - Fraundorfer, Friedrich
AU - Hilinges, Otmar
AU - Schmalstieg, Dieter
PY - 2019
Y1 - 2019
N2 - 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 …
AB - 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 …
U2 - 10.3389/frobt.2019.00095
DO - 10.3389/frobt.2019.00095
M3 - Article
SN - 2296-9144
JO - Frontiers in Robotics and AI
JF - Frontiers in Robotics and AI
M1 - 95
ER -