Miller Robotic Interface II Bedienungsanleitung PDF herunterladen (Seite 14)

2 REVIEW OF RELEVANT RESEARCH

Remote robot interfaces can be broken down in to two categories: map-centric and video-

centric. A map-centric interface is an interface where the map is the most predominant feature

in the interface. Most of the frequently used information is clustered on or near the map.

Likewise, in a video-centric interface, the video window is the most predominant feature with all

the important information located on or around the video screen.

2.1 Map-centric Interfaces

A strong case could be argued that map-centric interfaces are much better suited for operating

remote robot teams than video-centric interfaces, due to the inherent location awareness that a

map-centric interface can easily provide. Thus, the relation of each robot in the team to each

other, as well as its position in the search area, can be seen in the map. However, it is tougher to

argue that map-centric interfaces are better for use with a single robot. If the robots do not have

adequate sensing capabilities, creating the maps that these systems rely on may not be possible.

Also, due to the emphasis on location awareness, it can be difficult to effectively provide good

surroundings awareness.

We know of two examples of map-centric interfaces. The first was developed by the MITRE

Corporation and is shown in figure 1. It involved using up to three robots to build up a global

map of the area that was covered. Most of the upper portion of the display was a map that

gradually built up as ranging information was combined from the robots. It provided drawing

tools for annotation. It also had the ability to switch operator driving controls among the three

robots. Small video windows from the robots appeared under the map. A command history list

appeared on the bottom right-hand corner. The command history could be toggled off to see a

slightly larger version of one of the video streams. The main problems with this interface were

the small size of the video screens as well as the slow updates [Drury, Riek, et al. 2003].

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Miller Robotic Interface II Bedienungsanleitung Seite 14