improved interfaces for human-robot interaction in urban search and rescue michael baker robert...
Post on 22-Dec-2015
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Improved Interfaces for Human-Robot Interaction in Urban Search and Rescue
Michael BakerRobert CaseyBrenden KeyesHolly A. Yanco
University of Massachusetts Lowell
Why Human-Robot Interaction in Urban Search and Rescue is Hard
Important to avoid secondary collapse by navigating safely “Tunnel vision” view of the environment Easy to miss vital information and details No sense of scale, travel direction or color
Video courtesy of CRASAR
Human-Robot Interaction Issues in Urban Search and Rescue
Usability studies show:– Users spend a lot of time trying to gain
situation awareness– 30% of run time spent looking around instead
of navigating– Most users focus only on the video display
We are looking to create an interface, that will be simple yet robust.
Problems with Existing Interfaces
Designed for more than one task
GUI shows extraneous information
Sensor information is too spread out
Large learning curve
Not configurable
Problems with Existing Interfaces
Wasted real estate Sonar map is
difficult to read Map is not on the
same eye level.
Our Approach
Capitalize on the user’s natural area of focus Fuse sensor information to decrease cognitive load
– Present sensor information so it’s readily and easily understood
– Increase situation awareness while decreasing the user’s mental effort
Enhancements to increase user efficiency– Suggestions– Additional sensors
UMass Lowell’s USAR Interface
Pan and Tilt Indicators
Pan and Tilt Indicators
Single Camera Problems
User has to remember what is behind the robot
Leads to Problems– 41% rear hits– Poor situation awareness behind the robot
Two Camera Solution
“Rear view mirror”-inspired video display Automatic remapping of drive commands to simplify navigation Automatic remapping of range information to match robot
travel direction
Ranging Information
Ranging information is displayed around the video– Takes advantage of the user’s natural area of
focus
Use color, number of bars and location to lessen the user’s cognitive effort
Option to display raw distance values
Ranging Information
Ranging information is displayed around the video
– Takes advantage of the user’s natural area of focus
Use color, number of bars and location to lessen the user’s cognitive effort
Option to display raw distance values
Map of the Environment
Preliminary Tests
Users liked ability to switch the camera view Users prefer the joystick over the keyboard
control Suggestions were helpful Usability tests in progress
Ongoing Work
Customizations– People interact with the same interface differently – Reflect user’s preference, not developer’s
Use layered sensor modalities Variable frame rates for front and rear camera
UMass Lowell USAR Interface