Adapting GOMS to model human-robot interaction
Proceedings of the ACM/IEEE international conference on Human-robot interaction
Effective supervision of a robot team through user interface design
Proceedings of the 46th Annual Southeast Regional Conference on XX
AAAI'06 proceedings of the 21st national conference on Artificial intelligence - Volume 2
Approaches to mixed reality user interfaces for teleoperation of mobile robots
RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
A methodology for testing unmanned vehicle behavior and autonomy
PerMIS '07 Proceedings of the 2007 Workshop on Performance Metrics for Intelligent Systems
Scaling effects for streaming video vs. static panorama in multirobot search
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Potential scaling effects for asynchronous video in multirobot search
PerMIS '08 Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems
Comparative analysis of 3-D robot teleoperation interfaces with novice users
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A review of mobile robotic telepresence
Advances in Human-Computer Interaction
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In order to apply mobile robots to a new range of applications, we require control architectures and interfaces that support symbiotic interaction. Remote deployment of mobile robots offers one of the most compelling opportunities to merge human intelligence with machine proficiency. This paper discusses a mixed-initiative control strategy based not on video, but on an abstracted, collaborative workspace - a 3-D, video-game representation constructed on-the-fly - that promotes situation-awareness and efficient tasking. The new interface requires orders of magnitude less bandwidth than teleoperation and permits transmission ranges of thousands of miles. Unlike video, which offers only a first person, local environment perspective, the 3-D interface changes perspective to support changing levels of operator involvement and robot autonomy. The human-participant study presented here evaluates the effectiveness of this interaction substrate on a remote exploration task. Results indicate that this new tool for interfacing humans and intelligent robots can reduce communication bandwidth and human error, increase operators' subjective "feeling of control", and enable a spectrum of remote robotic applications which have never before been possible.