[en] The goal of the work presented in this paper is to
facilitate the cooperation between human opera-
tors and aerial robots to perform surface inspec-
tion missions. Our approach is based on a model
of human collaborative control with a mixed ini-
tiative interaction. In the paper, we present our
human-robot cooperation model based on the
combination of a supervisory mode and an as-
sistance mode with a set of interaction patterns.
We developed a software system implementing
this interaction model and carried out several
real flight experiments that proved that this ap-
proach can be used in aerial robotics for sur-
face inspection missions (e.g., in vision based
indoor missions). Compared to a conventional
tele-operated inspection system, the solution pre-
sented in this paper gives more autonomy to the
aerial systems, reducing the cognitive load of the
operator during the mission development.
Disciplines :
Computer science
Author, co-author :
Molina, Martin; Technical University of Madrid (UPM) > Department of Artificial Intelligence > Professor
Frau, Pedro; Technical University of Madrid (UPM) > Department of Artificial Intelligence
Maraval, Dario; Technical University of Madrid (UPM) > Department of Artificial Intelligence
Sanchez Lopez, Jose Luis ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Bavle, Hriday; Technical University of Madrid (UPM-CSIC) > Centre for Automation and Robotics
Campoy, Pascual; Technical University of Madrid (UPM-CSIC) > Centre for Automation and Robotics
External co-authors :
yes
Language :
English
Title :
Human-Robot Cooperation in Surface Inspection Aerial Missions
Publication date :
21 September 2017
Event name :
2017 International Micro Air Vehicle Conference and Flight Competition (IMAV)