On the performance evaluation of a vision-based human-robot interaction framework

Junaed Sattar, Gregory Dudek

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

Abstract

This paper describes the performance evaluation of a machine visionbased human-robot interaction framework, particularly those involving human-interface studies. We describe a visual programming language called RoboChat, and a complimentary dialog engine which evaluates the need for confirmation based on utility and risk. Together, RoboChat and the dialog mechanism enable a human operator to send a series of complex instructions to a robot, with the assurance of confirmations in case of high task-cost or command uncertainty, or both. We have performed extensive human-interface studies to evaluate the usability of this framework, both in controlled laboratory conditions and in a variety of outdoors environments. One specific goal for the RoboChat scheme was to aid a scuba diver to operate and program an underwater robot in a variety of deployment scenarios, and the real-world validations were thus performed on-board the Aqua amphibious robot [4], in both underwater and terrestrial environments. The paper describes the details of the visual human-robot interaction framework, with an emphasis on the RoboChat language and the confirmation system, and presents a summary of the set of performance evaluation experiments performed both on- and off-board the Aqua vehicle.

Original languageEnglish (US)
Title of host publicationProceedings of the Workshop on Performance Metrics for Intelligent Systems, PerMIS 2012
Pages21-28
Number of pages8
DOIs
StatePublished - Dec 11 2012
Event11th Workshop on Performance Metrics for Intelligent Systems, PerMIS 2012 - College Park, MD, United States
Duration: Mar 20 2012Mar 22 2012

Publication series

NamePerformance Metrics for Intelligent Systems (PerMIS) Workshop

Other

Other11th Workshop on Performance Metrics for Intelligent Systems, PerMIS 2012
CountryUnited States
CityCollege Park, MD
Period3/20/123/22/12

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  • Cite this

    Sattar, J., & Dudek, G. (2012). On the performance evaluation of a vision-based human-robot interaction framework. In Proceedings of the Workshop on Performance Metrics for Intelligent Systems, PerMIS 2012 (pp. 21-28). (Performance Metrics for Intelligent Systems (PerMIS) Workshop). https://doi.org/10.1145/2393091.2393096