Tele-robotics via An Efficient Immersive Virtual Reality Architecture

EasyChair Preprint 3132

Abstract

There are currently important limitations in allowing for a more efficient man-machine collaboration in environments hostile to human presence. An immersive and intuitive user interface has the potential to bridge the gap between the human and the robot he/she is tasked to operate in the remote environment. In this work, we propose a novel architecture that allows for collecting large amount of sensory data to build models of the world and its inhabitants and present this information to the teleoperator of the robot. This environment maintain interfaces that are intuitive to the operator and accurately represents the robot's real-world state and environment. The proposed game client is capable of handling multiple users, much like a traditional multiplayer game, while visualizing multiple robotic agents operating within the real world.  We also present a set of planned user studies to validate the performance of the proposed architecture compared to traditional tele-robotic applications.

Keyphrases: ROS, Robotic, Teleoperation, Unreal Engine, VR, reality, telerobotic control, virtual

@booklet{EasyChair:3132,
  author    = {Nasif Zaman and Alireza Tavakkoli and Christos Papachristos},
  title     = {Tele-robotics via An Efficient Immersive Virtual Reality Architecture},
  howpublished = {EasyChair Preprint 3132},
  year      = {EasyChair, 2020}}