Mixed-Reality User Interface for Mobile Robot Teleoperation in Ad-Hoc Networks

Conventional approaches for the implementation of modern user interfaces for teleoperation of mobile robots in ad-hoc networks target to optimize only the communication link. Thus, remaining effects from network behavior in the user interface are still visible to the human operator. Here an approach is presented which aims to minimize also the perception by the human of these effects. This work shows and compares the behavior of three different user interface implementations which are capable for mobile robot teleoperation via ad-hoc networks. As starting point, a user interface is used which is not reacting on the situations of the communication link. Here, all changes in the network topology and network configuration, as well as the effects of the network load are directly visible for the user. The traditional approach uses an intelligent traffic shaping between the mobile robot and the user interface. Thus, short disruptions of the communication link or small delays are avoided. Nevertheless, a longer communication break down is still influencing the teleoperation capabilities of the user. The “predictive interface„ which is is presented within the frame of this work also allows for teleoperation of the mobile robot while compensating longer communication losses. Finally, this work discusses constraints and requirements for a successful realization of predictive interfaces for mobile robot teleoperation via ad-hoc networks.