High-Level Teleoperation System for Aerial Exploration of Indoor Environments

Werner Alexander Isop, Christoph Gebhardt, Tobias Nägeli, Friedrich Fraundorfer, Otmar Hilliges, Dieter Schmalstieg
2019 Frontiers in Robotics and AI  
Exploration of challenging indoor environments is a demanding task. While automation with aerial robots seems a promising solution, fully autonomous systems still struggle with high-level cognitive tasks and intuitive decision making. To facilitate automation, we introduce a novel teleoperation system with an aerial telerobot that is capable of handling all demanding low-level tasks. Motivated by the typical structure of indoor environments, the system creates an interactive scene topology in
more » ... al-time that reduces scene details and supports affordances. Thus, difficult high-level tasks can be effectively supervised by a human operator. To elaborate on the effectiveness of our system during a real-world exploration mission, we conducted a user study. Despite being limited by real-world constraints, results indicate that our system better supports operators with indoor exploration, compared to a baseline system with traditional joystick control.
doi:10.3389/frobt.2019.00095 pmid:33501110 pmcid:PMC7805862 fatcat:w6qfgst4xvftdaxtwmtagg6egi