Path bending: Interactive human-robot interfaces with collision-free correction of user-drawn paths

Jared Alan Frank, Vikram Kapila

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

Abstract

Enabling natural and intuitive communication with robots calls for the design of intelligent user interfaces. As robots are introduced into applications with novice users, the information obtained from such users may not always be reliable. This paper describes a user interface approach to process and correct intended paths for robot navigation as sketched by users on a touchscreen. Our approach demonstrates that by processing video frames from an overhead camera and by using composite Bézier curves to interpolate smooth paths from a small set of significant points, low-resolution occupancy grid maps (OGMs) with numeric potential fields can be continuously updated to correct unsafe user-drawn paths at interactive speeds. The approach generates sufficiently complex paths that appear to bend around static and dynamic obstacles. The results of an evaluation study show that our approach captures the user intent while relieving the user from being concerned about her path-drawing abilities.

Original languageEnglish (US)
Title of host publicationIUI 2015 - Proceedings of the 20th ACM International Conference on Intelligent User Interfaces
PublisherAssociation for Computing Machinery
Pages186-190
Number of pages5
ISBN (Electronic)9781450333061
DOIs
StatePublished - Mar 18 2015
Event20th ACM International Conference on Intelligent User Interfaces, IUI 2015 - Atlanta, United States
Duration: Mar 29 2015Apr 1 2015

Publication series

NameInternational Conference on Intelligent User Interfaces, Proceedings IUI
Volume2015-January

Other

Other20th ACM International Conference on Intelligent User Interfaces, IUI 2015
CountryUnited States
CityAtlanta
Period3/29/154/1/15

    Fingerprint

Keywords

  • Interactive
  • Path
  • Replanning
  • Robot
  • User interface
  • Vision

ASJC Scopus subject areas

  • Software
  • Human-Computer Interaction

Cite this

Frank, J. A., & Kapila, V. (2015). Path bending: Interactive human-robot interfaces with collision-free correction of user-drawn paths. In IUI 2015 - Proceedings of the 20th ACM International Conference on Intelligent User Interfaces (pp. 186-190). (International Conference on Intelligent User Interfaces, Proceedings IUI; Vol. 2015-January). Association for Computing Machinery. https://doi.org/10.1145/2678025.2701402