A Reference Test Course for Urban Search and Rescue Robots
Proceedings of the Fourteenth International Florida Artificial Intelligence Research Society Conference
Assessing the scalability of a multiple robot interface
Proceedings of the ACM/IEEE international conference on Human-robot interaction
Human-robot interaction: a survey
Foundations and Trends in Human-Computer Interaction
Decision-theoretic human-robot communication
Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
An evaluation framework for videogame based tasking of remote vehicles
IE '07 Proceedings of the 4th Australasian conference on Interactive entertainment
Sketch and run: a stroke-based interface for home robots
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
Approaches to mixed reality user interfaces for teleoperation of mobile robots
RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
Human-robot communication for collaborative decision making - A probabilistic approach
Robotics and Autonomous Systems
Developing guidelines for in-the-field control of a team of robots
HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
The impact of three interfaces for 360-degree video on spatial cognition
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
Effective semi-autonomous telepresence
Robot Soccer World Cup XV
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Until robots are able to autonomously navigate, carry out a mission and report back to base, effective human-robot interfaces will be an integral part of any practical mobile robot system. This is especially the case for robot-assisted Urban Search and Rescue (USAR). Unfamiliar and unstructured environments, unreliable communications and many sensors combine to make the job of a human operator, and hence the interface designer challenging.This paper presents the design, implementation and deployment of a human-robot interface for the teleoperated USAR research robot, textsfCASTER. Proven HCI-based user interface design principles were adopted in order to produce an interface that was intuitive and minimised learning time while maximising effectiveness.The human-robot interface was deployed by Team CASualty in the 2005 RoboCup Rescue Robot League competition. This competition allows a wide variety of approaches to USAR research to be evaluated in a realistic environment. Despite the operator having less than one month of experience, Team CASualty came 3rd, beating teams that had far longer to train their operators. In particular, the ease with which the robot could be driven and high quality information gathered played a crucial part in Team CASualty's success. Further empirical evaluations of the system on a group of twelve users as well as members of the public further reinforce our belief that this interface is quick to learn, easy to use and effective.