2017/10/04 by Ramviyas Parasuraman, Sergio Caccamo, Parasuraman, Ramviyas +7
Computer Science · Engineering · #Artificial intelligence #Computer network #Computer science #FOS: Computer and information sciences #Hand Gesture Recognition Systems #Human-Computer Interaction (cs.HC) #Indoor and Outdoor Localization Technologies #Interface (matter) #Mobile robot #Networking and Internet Architecture (cs.NI) #RSS #Real-time computing #Robot #Robotics (cs.RO) #Robotics and Automated Systems #SIGNAL (programming language) #Search and rescue #Simulation #Teleoperation #Teleoperation and Haptic Systems #Urban search and rescue #cs.HC #cs.NI #cs.RO
paper · pdf · doi:10.48550/arxiv.1710.06785
Accepted for publication in the Journal of Human-Robot Interaction (JHRI)
openalex publication_date 2017/10/04 · arxiv created 2017/11/07 · arxiv updated 2017/11/09 · openalex created_date 2022/10/05 · openalex updated_date 2026/08/05
A reliable wireless connection between the operator and the teleoperated\nUnmanned Ground Vehicle (UGV) is critical in many Urban Search and Rescue\n(USAR) missions. Unfortunately, as was seen in e.g. the Fukushima disaster, the\nnetworks available in areas where USAR missions take place are often severely\nlimited in range and coverage. Therefore, during mission execution, the\noperator needs to keep track of not only the physical parts of the mission,\nsuch as navigating through an area or searching for victims, but also the\nvariations in network connectivity across the environment. In this paper, we\npropose and evaluate a new teleoperation User Interface (UI) that includes a\nway of estimating the Direction of Arrival (DoA) of the Radio Signal Strength\n(RSS) and integrating the DoA information in the interface. The evaluation\nshows that using the interface results in more objects found, and less aborted\nmissions due to connectivity problems, as compared to a standard interface. The\nproposed interface is an extension to an existing interface centered around the\nvideo stream captured by the UGV. But instead of just showing the network\nsignal strength in terms of percent and a set of bars, the additional\ninformation of DoA is added in terms of a color bar surrounding the video feed.\nWith this information, the operator knows what movement directions are safe,\neven when moving in regions close to the connectivity threshold.\n