Miller Robotic Interface II Manual de usuario descargar pdf (Pagina 15)

Figure 1: MITRE’s Map-centric Interface. Photo from: [Yanco and Drury, 2007]

The Idaho National Laboratory (INL) also has a map-centric interface, which is shown in figure

2. Just like our system, the INL interface has been tested and modified numerous times. They

originally started out with a video-centric interface. However, as a result of Nielsen et al. [2004]

and Nielsen et al. [2006], INL developed a map-centric interface. This interface combines 3D

map information (denoted in blue blocks) with a red robot avatar in the map. The video

window is displayed in the current pan-tilt position with respect to the robot avatar by it

swinging around the robot. This indicates the orientation of the robot with respect to where the

camera is currently looking. The INL interface provides a wide variety of icons for marking the

map, including landmarks and waypoints. This is an advantageous feature to have, not only for

being able to quickly recognize where you are, but it also allows for the robot to autonomously

travel back to a previously marked area. However, it can be prone to some of the issues that all

map-centric interfaces face. If the map isn’t generated correctly due to moving objects in the

environment, faulty sensors or other factors, the user could become very confused as to what

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Miller Robotic Interface II Manual de usuario Pagina 15