Multi-robot Systems, Virtual Reality and ROS: Developing a New Generation of Operator Interfaces
Multi-robot Systems, Virtual Reality and ROS: Developing a New Generation of Operator Interfaces
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多机器人系统、虚拟现实和 ROS：开发新一代操作员界面
DOI：
10.1007/978-3-319-91590-6_2
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
A. Barrientos
中科院分区：
文献类型：
--
作者：
J. Roldán;E. Peña;David Garzón;Jorge de León;M. Garzón;J. Cerro;A. Barrientos
本章描述了为将基于ROS的机器人与基于Unity的虚拟现实界面相集成而开发的一系列工作。这种集成的主要目标是开发身临其境的监控和指挥界面，能够在不增加工作量的情况下提高操作员的态势感知。为了实现这一点，分析了现有的技术和资源，并应用了多个ROS包和Unity资产，如\(Multimaster\_FKIE\)、\(rosbridge\_Suite\)、RosBridgeLib和SteamVR。此外，还介绍了三种应用：用于监控无人机机队的接口、用于指挥机器人操作器的接口以及多个地面和空中机器人的集成。最后，报告了一些经验和教训，对今后的发展有用。
This chapter describes a series of works developed in order to integrate ROS-based robots with Unity-based virtual reality interfaces. The main goal of this integration is to develop immersive monitoring and commanding interfaces, able to improve the operator’s situational awareness without increasing its workload. In order to achieve this, the available technologies and resources are analyzed and multiple ROS packages and Unity assets are applied, such as \(multimaster\_fkie\), \(rosbridge\_suite\), RosBridgeLib and SteamVR. Moreover, three applications are presented: an interface for monitoring a fleet of drones, another interface for commanding a robot manipulator and an integration of multiple ground and aerial robots. Finally, some experiences and lessons learned, useful for future developments, are reported.
影响因子：
1.9
作者：
Niehorster DC;Li L;Lappe M
通讯作者：
Lappe M