Human-Robot Interaction in Unstructured EnvironmentsProgress ReportMay 12, 2014Kevin DeMarco

1 Paper Ideas

After collecting the data of the diver in the ME Dive Well last week and culling through the data, I haveidentified four main topics I wish to address with the data set.

1.1 Diver Detection and Tracking with Sonar and Video

Investigate algorithms for fusing the sonar and video data to improve diver tracking. Also, investigate searchalgorithms for locating the diver using the sonar, prioritizing each cluster as possible divers, using autonomyto visit each cluster, and then verify the existence of the diver with the optical camera. This paper will usethe data that was collected to show that is possible to detect a diver with fused sonar and video data, butthen it will use the simulator to verify the search / high-level autonomy functions. These functions could betested in the field for my final thesis.

1.2 Using High-Level Autonomy for Safe Leader-Follower Behaviors in Under-water Robots

When two humans perform leader-follower behaviors, they have to ensure that their buddy’s attention canbe acquired at any time. Thus, the follower cannot be positioned directly behind the leader, otherwise, ifthe follower has a problem, the follower would not be able to notify the leader of the problem. Due to therobot’s limited field of view, it cannot maintain constant contact with the following diver. Thus, high-levelautonomy functions have to be built into the robot assistant that help to resolve the conflicting behaviors ofmoving to a waypoint and checking on the status of the following diver. Examples from the data collectedwill be used to motivate the need for this behavior and the behavior will be verified in simulation for thispaper. For my thesis, I hope to verify the behavior with an actual diver.

1.3 Using Locally Adaptive Regression Kernels (LARK) in Field Robotics Ap-plications

I have had some initial success in detecting the diver’s face using LARKs. This work should be extendedto detecting the diver’s hands, tools, workspace, etc. I think using LARKs in a field robotics setting is veryinteresting because the human team could merely upload a CAD or image file of a valve or item of interestfor the robot to find and/or operate. Thus, this paper could deal with improving field robotics operationswhen humans are in-the-loop, but not teleoperating the robot.

1.4 Underwater Autonomous Tool Exchange with an Optical Camera

I collected video and sonar data of the diver exchanging a wrench several times with the robot. Part of theoperation requires the camera in the ROV to tilt, so that the manipulator is visible. If the hand detectorworks correctly, and if there is a way to detect the diver’s hand extending towards the ROV, the ROV couldenter an exchange protocol that consists of autonomously tilting the camera, and operating the manipulatorto grab the tool from the diver. Unfortunately, at close-ranges, the sonar is useless at detecting the diver’slimbs, this procedure would be focused on using the single optical camera to detect the diver’s intentions.The protocol could be tested in a small pool or tank without too much difficulty.

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