Dynamic reconfiguration of mission parameters in underwater human-robot collaboration

Md Jahidul Islam, Marc Ho, Junaed Sattar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper presents a real-time programming and parameter reconfiguration method for autonomous underwater robots in human-robot collaborative tasks. Using a set of intuitive and meaningful hand gestures, we develop a syntactically simple framework that is computationally more efficient than a complex, grammar-based approach. In the proposed framework, a convolutional neural network is trained to provide accurate hand gesture recognition; subsequently, a finite-state machine- based deterministic model performs efficient gesture-to-instruction mapping and further improves robustness of the interaction scheme. The key aspect of this framework is that it can be easily adopted by divers for communicating simple instructions to underwater robots without using artificial tags such as fiducial markers or requiring memorization of a potentially complex set of language rules. Extensive experiments are performed both on field-trial data and through simulation, which demonstrate the robustness, efficiency, and portability of this framework in a number of different scenarios. Finally, a user interaction study is presented that illustrates the gain in the ease of use of our proposed interaction framework compared to the existing methods for the underwater domain.

Original languageEnglish (US)
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6212-6219
Number of pages8
ISBN (Electronic)9781538630815
DOIs
StatePublished - Sep 10 2018
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia
Duration: May 21 2018May 25 2018

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
CountryAustralia
CityBrisbane
Period5/21/185/25/18

Fingerprint

Robots
Gesture recognition
Finite automata
End effectors
Neural networks
Experiments

Cite this

Islam, M. J., Ho, M., & Sattar, J. (2018). Dynamic reconfiguration of mission parameters in underwater human-robot collaboration. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 6212-6219). [8461197] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8461197

Dynamic reconfiguration of mission parameters in underwater human-robot collaboration. / Islam, Md Jahidul; Ho, Marc; Sattar, Junaed.

2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 6212-6219 8461197 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Islam, MJ, Ho, M & Sattar, J 2018, Dynamic reconfiguration of mission parameters in underwater human-robot collaboration. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8461197, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 6212-6219, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 5/21/18. https://doi.org/10.1109/ICRA.2018.8461197
Islam MJ, Ho M, Sattar J. Dynamic reconfiguration of mission parameters in underwater human-robot collaboration. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 6212-6219. 8461197. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2018.8461197
Islam, Md Jahidul ; Ho, Marc ; Sattar, Junaed. / Dynamic reconfiguration of mission parameters in underwater human-robot collaboration. 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 6212-6219 (Proceedings - IEEE International Conference on Robotics and Automation).
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