V.Ra: An In-Situ Visual Authoring System for Robot-IoT Task Planning with Augmented Reality

被引：14

作者：

Cao, Yuanzhi ^{[1
]}

Xu, Zhuangying ^{[1
]}

Li, Fan ^{[2
]}

Zhong, Wentao ^{[1
]}

Huo, Ke ^{[1
]}

Ramani, Karthik ^{[1
,3
]}

机构：

[1] Purdue Univ, Sch Mech Engn, W Lafayette, IN 47907 USA

[2] Tsinghua Univ, Sch Mech Engn, Beijing, Peoples R China

[3] Sch Elect & Comp Engn, W Lafayette, IN USA

来源：

PROCEEDINGS OF THE 2019 ACM DESIGNING INTERACTIVE SYSTEMS CONFERENCE (DIS 2019) | 2019年

关键词：

Robotic task authoring; Human-robot interaction; Augmented Reality; SLAM; Internet-of-Robotic-thing; Robot navigation;

D O I：

10.1145/3322276.3322278

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present V.Ra, a visual and spatial programming system for robot-IoT task authoring. In V.Ra, programmable mobile robots serve as binding agents to link the stationary IoTs and perform collaborative tasks. We establish an ecosystem that coherently connects the three key elements of robot task planning, the human, robot and IoT, with one single mobile AR device. Users can perform task authoring with the Augmented Reality (AR) handheld interface, then placing the AR device onto the mobile robot directly transfers the task plan in a what-you-do-is-what-robot-does (WYDWRD) manner. The mobile device mediates the interactions between the user, robot, and the IoT oriented tasks, and guides the path planning execution with the embedded simultaneous localization and mapping (SLAM) capability. We demonstrate that V.Ra enables instant, robust and intuitive room-scale navigatory and interactive task authoring through various use cases and preliminary studies.

引用

页码：1059 / 1070

页数：12

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