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,
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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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    • "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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