An augmented reality interface for multi-robot tele-operation and control

Teams of heterogeneous robots with different dynamics or capabilities can perform a variety of tasks such as multipoint surveillance, cooperative transport and explorations in hazardous environments. However, the operation of these teams of robots by a human operator is a major challenge, particularly in search and rescue applications. This research created a seamlessly controlled multi-robot system comprised of ground robots of semi-autonomous nature for source detection tasks. The system combines augmented reality interface capabilities with human supervisor's ability to control multiple robots. The thesis studies a preliminary Human Factors evaluation of this system in which several interface conditions are tested for source detection tasks. Results show that the novel Augmented Reality multi-robot control (Point-and-Go and Path Planning) reduced mission completion times compared to the traditional joystick control for target detection missions.