Spatial processes in mobile robot teleoperation

摘要

When a human operator drives a robot through agraphical user interface, he or she must have a propersituational awareness (SA), which has been considered inliterature one of the measures for evaluating an inter-face's usefulness (Drury et al. 2007; Nielsen and Good-rich 2006; Olsen and Goodrich 2003; Scholtz et al.2004). The commonly accepted SA definition was givenby Endsley (1988) and adapted to HRI by Yanco et al.(2003). It distinguishes three components: human–robotSA, robot–human SA, and the human's overall missionawareness. Within the human–robot awareness, twoaspects are important for the purposes of this paper:location awareness, defined as a map-based concept,which allows the user to locate the robot in the scenario,and surroundings awareness, which pertains to obstacleavoidance and allows the user to recognize the immediatesurroundings of the robot (Drury et al. 2007). Theseconcepts can be connected to cognitive distinctionbetween route knowledge and survey knowledge. Theroute perspective is closely linked to perceptual experi-ence: it occurs under the egocentric perspective in a"retinomorphous reference system", that makes a personable to perceive oneself in the space (Herrmann 1996),A. V. Gomez ? G. RandelliDepartment of Computer and System Sciences,Sapienza Universita di Roma, Rome, ItalyC. Saracini ? F. Botta Department of Psychology, Sapienza Universita di Roma, Rome, Italye-mail: fabianobottaster@gmail.com with a special emphasis on spatial relations betweenobjects composing the scene an agent is situated in. Thisseems quite necessary for a correct surrounding aware-ness. In contrast, survey perspective is characterized byan external and allocentric perspective, such as an aerialor map-like view, allowing a direct access to the globalspatial layout (Cohen 1989) and giving information aboutstructures and global relations, but no clues about dis-tances between objects and information about turningpoints, perspective and visual appearance of landmarks,for example, and this can be connected with the locationawareness.