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Teams of heterogeneous robots with different dynamics or capabilities could perform a variety of tasks such as
multipoint surveillance, cooperative transport and explorations in hazardous environments. In this study, we work with
heterogeneous robots of semi-autonomous ground and aerial robots for contaminant localization. We developed a human
interface system which linked every real robot to its virtual counterpart. A novel virtual interface has been integrated
with Augmented Reality that can monitor the position and sensory information from video feed of ground and aerial
robots in the 3D virtual environment, and improve user situational awareness. An operator can efficiently control the real
multi-robots using the Drag-to-Move method on the virtual multi-robots. This enables an operator to control groups of
heterogeneous robots in a collaborative way for allowing more contaminant sources to be pursued simultaneously. The
advanced feature of the virtual interface system is guarded teleoperation. This can be used to prevent operators from
accidently driving multiple robots into walls and other objects. Moreover, the feature of the image guidance and tracking
is able to reduce operator workload.
Sam Y.-S. Lee,Shawn Hunt,Alex Cao, andAbhilash Pandya
"Combined virtual and real robotic test-bed for single operator control of multiple robots", Proc. SPIE 7692, Unmanned Systems Technology XII, 769208 (7 May 2010); https://doi.org/10.1117/12.850166
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Sam Y.-S. Lee, Shawn Hunt, Alex Cao, Abhilash Pandya, "Combined virtual and real robotic test-bed for single operator control of multiple robots," Proc. SPIE 7692, Unmanned Systems Technology XII, 769208 (7 May 2010); https://doi.org/10.1117/12.850166