Abstract
This paper reports on the development of a collaborative system enabling to tele-operate groups of robots. The general aim is to allow a group of tele-operators to share the control of robots. This system enables the joint team of operators and robots to achieve complex tasks such as inspecting an area or exploring unknown parts of an unknown environment.
Thanks to virtual and augmented reality techniques, a Virtual and Augmented Collaborative Environment (VACE) is built. This last supports a N*M*K scheme: N 1;N tele-operators control M 1;M robots at K 1;K abstraction levels. Indeed, our VACE allows to N people to control any robot at different abstraction’s levels (from individual actuator’s control K = 1 to final status specification K = 3). On the other hand, the VACE enables to build synthetic representations of the robots and their world. Robots may appear to tele-operators as individuals or reduced to a single virtual entity.
We present in this paper an overview of this system and an application, namely a museum visit. We show how visitors can control robots and improve their immersion using a head-tracking system combined with a VR helmet to control the active vision systems on the remote mobile robots. We also introduce the ability to control the remote robots configuration, at a group level. We finally show how Augmented and Virtual Reality add-ons are included to ease the execution of remote tasks.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Warwick, K., Kelly, I., Goodhew, I., Keating, D.: Behaviour and learning in completely autonomous mobile robots. In: IEE Colloquium on Design and Development of Autonomous Agents, pp. 7/1–7/4 (November 1995)
Lidoris, G., Klasing, K., Bauer, A., Xu, T., Kuhnlenz, K., Wollherr, D., Buss, M.: The autonomous city explorer project: aims and system overview. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007. IROS 2007, October 29- November 2, pp. 560–565 (2007)
Glasgow, J., Thomas, G., Pudenz, E., Cabrol, N., Wettergreen, D., Coppin, P.: Optimizing information value: Improving rover sensor data collection. IEEE Transactions on Systems, Man and Cybernetics, Part A 38(3), 593–604 (2008)
Saffiotti, A., Broxvall, M., Gritti, M., LeBlanc, K., Lundh, R., Rashid, J., Seo, B., Cho, Y.: The peis-ecology project: Vision and results. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS 2008, September 2008, pp. 2329–2335 (2008)
Urbancsek, T., Vajda, F.: Internet telerobotics for multi-agent mobile microrobot systems - a new approach (2003)
Elfes, A., Dolan, J., Podnar, G., Mau, S., Bergerman, M.: Safe and efficient robotic space exploration with tele-supervised autonomous robots. In: Proceedings of the AAAI Spring Symposium, March 2006, pp. 104–113 (2006) (to appear)
Wertheimer, M.: Experimentelle studien über das sehen von bewegung. Zeitschrift für Psychologie 61, 161–265 (1912)
Hickey, S., Manninen, T., Pulli, P.: Telereality - the next step for telepresence. In: Proceedings of the World Multiconference on Systemics, Cybernetics and Informatics (SCI 2000), Florida, vol. 3, pp. 65–70 (2000)
Kheddar, A., Tzafestas, C., Blazevic, P., Coiffet, P.: Fitting teleoperation and virtual reality technologies towards teleworking (1998)
Tachi, S.: Real-time remote robotics-toward networked telexistence. IEEE Computer Graphics and Applications 18(6), 6–9 (1998)
Zhai, S., Milgram, P.: A telerobotic virtual control system. In: Proceedings of SPIE, Boston. Cooperative Intelligent Robotics in Space II, vol. 1612, pp. 311–320 (1991)
Yang, X., Chen, Q.: Virtual reality tools for internet-based robotic teleoperation. In: DS-RT 2004: Proceedings of the 8th IEEE International Symposium on Distributed Simulation and Real-Time Applications, Washington, DC, USA, pp. 236–239. IEEE Computer Society, Los Alamitos (2004)
Monferrer, A., Bonyuet, D.: Cooperative robot teleoperation through virtual reality interfaces, p. 243. IEEE Computer Society, Los Alamitos (2002)
Gerbaud, S., Mollet, N., Ganier, F., Arnaldi, B., Tisseau, J.: Gvt: a platform to create virtual environments for procedural training. In: IEEE VR 2008 (2008)
Cremer, J., Kearney, J.: Scenario authoring for virtual environments. In: IMAGE VII Conference, pp. 141–149 (1994)
Rickel, J., Johnson, W.: Steve: An animated pedagogical agent for procedural training in virtual environments. In: Intelligent virtual agents, Proceedings of Animated Interface Agents: Making Them Intelligent, pp. 71–76 (1997)
Querrec, R., Chevaillier, P.: Virtual storytelling for training: An application to fire-fighting in industrial environment. In: Balet, O., Subsol, G., Torguet, P. (eds.) ICVS 2001. LNCS, vol. 2197, pp. 201–204. Springer, Heidelberg (2001)
Devillers, F.: Langage de scenario pour des acteurs semi-autonomes. Ph.D thesis, IRISA Université Rennes1 (2001)
Mollet, N., Arnaldi, B.: Storytelling in virtual reality for training. In: Pan, Z., Aylett, R.S., Diener, H., Jin, X., Göbel, S., Li, L. (eds.) Edutainment 2006. LNCS, vol. 3942, pp. 334–347. Springer, Heidelberg (2006)
Mollet, N., Chellali, R.: Virtual and augmented reality with head-tracking for efficient teleoperation of groups of robots. In: Cyberworlds, Hangzhou, China (2008)
Mollet, N., Brayda, L., Chellali, R., Fontaine, J.: Virtual environments and scenario languages for advanced teleoperation of groups of real robots: Real case application. In: IARIA/ACHI 2009, Cancun (2009)
Mollet, N., Brayda, L., Chellali, R., Khelifa, B.: Standardization and integration in robotics: case of virtual reality tools. In: Cyberworlds, Hangzhou, China (2008)
Brayda, L., Mollet, N., Chellali, R.: Mixing telerobotics and virtual reality for improving immersion in artwork perception. In: Edutainment 2009, Banff, Canada. LNCS, vol. 5670. Springer, Heidelberg (2009)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Mollet, N., Chellali, R., Brayda, L. (2009). Virtual and Augmented Reality Tools for Teleoperation: Improving Distant Immersion and Perception. In: Pan, Z., Cheok, A.D., Müller, W., Rhalibi, A.E. (eds) Transactions on Edutainment II. Lecture Notes in Computer Science, vol 5660. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03270-7_10
Download citation
DOI: https://doi.org/10.1007/978-3-642-03270-7_10
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-03269-1
Online ISBN: 978-3-642-03270-7
eBook Packages: Computer ScienceComputer Science (R0)