Conference Paper

Field trial for simultaneous teleoperation of mobile social robots.

DOI: 10.1145/1514095.1514123 Conference: Proceedings of the 4th ACM/IEEE International Conference on Human Robot Interaction, HRI 2009, La Jolla, California, USA, March 9-13, 2009
Source: DBLP


Simultaneous teleoperation of mobile, social robots presents unique challenges, combining the real-time demands of conversa- tion with the prioritized scheduling of navigational tasks. We have developed a system in which a single operator can effec- tively control four mobile robots performing both conversation and navigation. We compare the teleoperation requirements for mobile, social robots with those of traditional robot systems, and we identify metrics for evaluating task difficulty and operator performance for teleoperation of mobile social robots. As a proof of concept, we present an integrated priority model combining real-time conversational demands and non-real-time navigational demands for operator attention, and in a pioneering study, we apply the model and metrics in a demonstration of our multi-robot system through real-world field trials in a shopping arcade.

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Available from: Dylan F. Glas, Oct 03, 2015
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    • "Situation coverage was discovered to be a very important metric on the performance of teleoperated social robots in previous studies [21] [22]. It is defined as the percentage among all interchanges between customers and robots, for which appropriate behaviors are prepared for the robots to respond. "
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    ABSTRACT: This study provides an in-depth analysis and practical solution to the problem of designing and implementing a human-robot team for simple conversational interactions. Models for operation timing, customer satisfaction and customer-robot interaction are presented, based on which a simulation tool is developed to estimate fan-out and robot team performance. Techniques for managing interaction flow and operator task assignment are introduced. In simulation, the effectiveness of different techniques and factors related to team performance are studied. A case study on deploying multiple robots in a shopping mall is then presented to demonstrate the usefulness of our study in helping the design and implementation of social robots in real-world settings.
    IEEE Transactions on Systems, Man, and Cybernetics: Systems 07/2013; 43(4):843-859. DOI:10.1109/TSMCA.2012.2216870 · 1.70 Impact Factor
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    • "In our applications, the operator's primary roles are to support speech recognition in noisy environments and to generally supervise the robots for safety. For many of our demonstrations and experiments, the operator has also corrected failures in robot localization [25]; however, the localization system presented here features global error recovery in the case of tracking failures, enabling the operator to focus completely on conversation-related tasks. "
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    ABSTRACT: Robust localization of robots and reliable tracking of people are both critical requirements for the deployment of service robots in real-world environments. In crowded public spaces, occlusions can impede localization using on-board sensors. At the same time, teams of service robots working together need to share the locations of people and other robots on the same global coordinate system in order to provide services efficiently. To solve this problem, our approach is to use an infrastructure of sensors embedded in the environment to provide an inertial reference frame and wide-area coverage. Based on a people-tracking system we have previously established which uses laser range finders to track people's trajectories, we have developed a technique to localize a team of service robots on a shared global coordinate system. Each robot's odometry data is associated with the observed trajectory of an entity detected by the laser tracking system, and Kalman filters are used to correct rotational offsets between the robots' individual coordinate systems and the global reference frame. We present our data association and pose correction algorithms and show results demonstrating the performance of our system in a shopping arcade.
    2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, St. Louis, MO, USA; 01/2009
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    ABSTRACT: We developed a networked robot system in which ubiquitous sensors support robot sensing and a human operator processes the robot’s decisions during interaction. To achieve semi-autonomous operation for a communication robot functioning in real environments, we developed an operator-requesting mechanism that enables the robot to detect situations that it cannot handle autonomously. Therefore, a human operator helps by assuming control with minimum effort. The robot system consists of a humanoid robot, floor sensors, cameras, and a sound-level meter. For helping people in real environments, we implemented such basic communicative behaviors as greetings and route guidance in the robot and conducted a field trial at a train station to investigate the robot system’s effectiveness. The results attest to the high acceptability of the robot system in a public space and also show that the operator-requesting mechanism correctly requested help in 84.7% of the necessary situations; the operator only had to control 25% of the experiment time in the semi-autonomous mode with a robot system that successfully guided 68% of the visitors.
    International Journal of Social Robotics 01/2011; 3(1):27-40. DOI:10.1007/s12369-010-0077-4 · 1.21 Impact Factor
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