Reference : Human-Robot Cooperation in Surface Inspection Aerial Missions
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Computer science
Computational Sciences
http://hdl.handle.net/10993/33367
Human-Robot Cooperation in Surface Inspection Aerial Missions
English
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 mailto [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]
21-Sep-2017
2017 International Micro Air Vehicle Conference and Flight Competition (IMAV), Toulouse, France, 18-21 Septembre 2017
Yes
No
International
2017 International Micro Air Vehicle Conference and Flight Competition (IMAV)
from 18-09-2017 to 21-09-2017
[en] Aerial robotics ; Inspection ; Human-Robot cooperation
[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.
http://hdl.handle.net/10993/33367

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