Multi-robot Systems, Virtual Reality and ROS: Developing a New Generation of Operator Interfaces

Juan Jesús Roldán; Elena Peña-Tapia; David Garzón-Ramos; Jorge de León; Mario Garzón; Jaime del Cerro; Antonio Barrientos

doi:10.1007/978-3-319-91590-6_2

Multi-robot Systems, Virtual Reality and ROS: Developing a New Generation of Operator Interfaces

Juan Jesús Roldán^*, Elena Peña-Tapia, David Garzón-Ramos, Jorge de León, Mario Garzón, Jaime del Cerro, Antonio Barrientos

^*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volume › Chapter › Scientific › peer-review

38 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Studies in Computational Intelligence
Publisher	Springer
Pages	29-64
DOIs	https://doi.org/10.1007/978-3-319-91590-6_2
Publication status	Published - 2019
Externally published	Yes

Publication series

Name	Studies in Computational Intelligence
Volume	778
ISSN (Print)	1860-949X

Keywords

Immersive teleoperation
Multi-robot systems
Operator interfaces
Virtual reality

Access to Document

10.1007/978-3-319-91590-6_2

Cite this

Roldán, J. J., Peña-Tapia, E., Garzón-Ramos, D., de León, J., Garzón, M., del Cerro, J., & Barrientos, A. (2019). Multi-robot Systems, Virtual Reality and ROS: Developing a New Generation of Operator Interfaces. In Studies in Computational Intelligence (pp. 29-64). (Studies in Computational Intelligence; Vol. 778). Springer. https://doi.org/10.1007/978-3-319-91590-6_2

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abstract = "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{\textquoteright}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.",

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Multi-robot Systems, Virtual Reality and ROS: Developing a New Generation of Operator Interfaces. / Roldán, Juan Jesús; Peña-Tapia, Elena; Garzón-Ramos, David et al.
Studies in Computational Intelligence. Springer, 2019. p. 29-64 (Studies in Computational Intelligence; Vol. 778).

Research output: Chapter in Book/Conference proceedings/Edited volume › Chapter › Scientific › peer-review

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T1 - Multi-robot Systems, Virtual Reality and ROS

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AU - Roldán, Juan Jesús

AU - Peña-Tapia, Elena

AU - Garzón-Ramos, David

AU - de León, Jorge

AU - Garzón, Mario

AU - del Cerro, Jaime

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AB - 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.

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T3 - Studies in Computational Intelligence

SP - 29

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PB - Springer

ER -

Multi-robot Systems, Virtual Reality and ROS: Developing a New Generation of Operator Interfaces

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Keywords

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