@inproceedings{Chacon-Quesada:2021:10.1109/IROS45743.2020.9341422,
author = {Chacon-Quesada, R and Demiris, Y},
doi = {10.1109/IROS45743.2020.9341422},
pages = {11439--11444},
publisher = {IEEE},
title = {Augmented reality eser interfaces for heterogeneous multirobot control},
url = {http://dx.doi.org/10.1109/IROS45743.2020.9341422},
year = {2021}
}

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TY  - CPAPER
AB  - Recent advances in the design of head-mounted augmented reality (AR) interfaces for assistive human-robot interaction (HRI) have allowed untrained users to rapidly and fluently control single-robot platforms. In this paper, we investigate how such interfaces transfer onto multirobot architectures, as several assistive robotics applications need to be distributed among robots that are different both physically and in terms of software. As part of this investigation, we introduce a novel head-mounted AR interface for heterogeneous multirobot control. This interface generates and displays dynamic joint-affordance signifiers, i.e. signifiers that combine and show multiple actions from different robots that can be applied simultaneously to an object. We present a user study with 15 participants analysing the effects of our approach on their perceived fluency. Participants were given the task of filling-out a cup with water making use of a multirobot platform. Our results show a clear improvement in standard HRI fluency metrics when users applied dynamic joint-affordance signifiers, as opposed to a sequence of independent actions.
AU  - Chacon-Quesada,R
AU  - Demiris,Y
DO  - 10.1109/IROS45743.2020.9341422
EP  - 11444
PB  - IEEE
PY  - 2021///
SN  - 2153-0858
SP  - 11439
TI  - Augmented reality eser interfaces for heterogeneous multirobot control
UR  - http://dx.doi.org/10.1109/IROS45743.2020.9341422
UR  - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000724145801020&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR  - http://hdl.handle.net/10044/1/97060
ER  - 

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