Using a hand-drawn sketch to control a team of robots

Authors:
Marjorie Skubic;Derek Anderson;Samuel Blisard;Dennis Perzanowski;Alan Schultz
Affiliations:
Electrical and Computer Engineering Department, University of Missouri-Columbia, Columbia, USA;Electrical and Computer Engineering Department, University of Missouri-Columbia, Columbia, USA;Electrical and Computer Engineering Department, University of Missouri-Columbia, Columbia, USA;Navy Center for Applied Research in Artificial Intelligence, US Naval Research Laboratory, Washington, USA;Navy Center for Applied Research in Artificial Intelligence, US Naval Research Laboratory, Washington, USA
Venue:
Autonomous Robots
Year:
2007

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Abstract

In this paper, we describe a prototype interface that facilitates the control of a mobile robot team by a single operator, using a sketch interface on a Tablet PC. The user draws a sketch map of the scene and includes the robots in approximate starting positions. Both path and target position commands are supported as well as editing capabilities. Sensor feedback from the robots is included in the display such that the sketch interface acts as a two-way communication device between the user and the robots. The paper also includes results of a usability study, in which users were asked to perform a series of tasks.