TY - GEN
T1 - Graphical state-space programmability as a natural interface for robotic control
AU - Sattar, Junaed
AU - Xu, Anqi
AU - Dudek, Gregory
AU - Charette, Gabriel
PY - 2010
Y1 - 2010
N2 - We present an interface for controlling mobile robots that combines aspects of graphical trajectory specification and state-based programming. This work is motivated by common tasks executed by our underwater vehicles, although we illustrate a mode of interaction that is applicable to mobile robotics in general. The key aspect of our approach is to provide an intuitive linkage between the graphical visualization of regions of interest in the environment, and activities relevant to these regions. In addition to introducing this novel programming paradigm, we also describe the associated system architecture developed on-board our amphibious robot. We then present a user interaction study that illustrates the benefits in usability of our graphical interface, compared to conventionally established programming techniques.
AB - We present an interface for controlling mobile robots that combines aspects of graphical trajectory specification and state-based programming. This work is motivated by common tasks executed by our underwater vehicles, although we illustrate a mode of interaction that is applicable to mobile robotics in general. The key aspect of our approach is to provide an intuitive linkage between the graphical visualization of regions of interest in the environment, and activities relevant to these regions. In addition to introducing this novel programming paradigm, we also describe the associated system architecture developed on-board our amphibious robot. We then present a user interaction study that illustrates the benefits in usability of our graphical interface, compared to conventionally established programming techniques.
UR - http://www.scopus.com/inward/record.url?scp=77955782578&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955782578&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509269
DO - 10.1109/ROBOT.2010.5509269
M3 - Conference contribution
AN - SCOPUS:77955782578
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4609
EP - 4614
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -