A Comparative Study of Multimodal Displays for Multirobot Supervisory Control
A Comparative Study of Multimodal Displays for Multirobot Supervisory Control
复制标题
多机器人监控多模态显示的比较研究
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
C. Schlick
中科院分区：
文献类型：
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作者：
B. Trouvain;C. Schlick
地面移动多机器人系统的监控需要在高时间压力下执行多个并发任务，导致工作量很大。在本文中，我们提出了多模态显示的设计和评估，以解决与地面多机器人系统的监督控制相关的特定问题：平台特定机器人控制任务之间的协调，例如机器人控制任务。导航和避障，以及任务特定的有效载荷任务。这种协调要求操作员根据任务要求同时监视机器人控制和有效负载控制任务之间的注意力并进行切换。多模式人机界面可以通过跨多个渠道传递信息来显着支持人类信息处理，因此可以改善并发任务处理。设计并进行了一项由 14 名参与者参加的实验，将四种人机界面配置与模拟的两机器人地面多机器人系统进行了比较。结果表明，多模态界面在多个变量上的表现明显更好，并且工作负载最低。根据我们的视线跟踪结果，我们可以得出结论，我们的多模式界面对相机显示屏外围区域的视觉扫描行为有影响。
The supervisory control of ground-based mobile multirobot systems requires to perform multiple concurrent tasks under high levels of time pressure resulting in heavy workload. In this paper we present the design and evaluation of multimodal displays for a particular problem associated with the supervisory control of ground-based multirobot systems: the coordination between the platform specific robot control task, e.g. navigation and obstacle avoidance, and the mission specific payload task. The coordination requires the operator to concurrently monitor and switch attention between the robot control and the payload control tasks depending on the mission requirements. Multimodal human-robot interfaces can significantly support human information processing by communicating information across multiple channels and can therefore improve concurrent task processing. An experiment was designed and carried out with 14 participants which compares four human-robot interface configurations with a simulated two-robot ground-based multirobot system. The results show that the multimodal interfaces perform significantly better across multiple variables and have the lowest workload. Based on our gaze tracking results we can conclude that our multimodal interface has an effect on the visual scanning behaviour in the peripheral regions of the camera display.