@inproceedings{Stedman:2023:10.1109/icra48891.2023.10161011,
author = {Stedman, H and Kocer, BB and van, Zalk N and Kovac, M and Pawar, VM},
doi = {10.1109/icra48891.2023.10161011},
pages = {11972--11978},
publisher = {IEEE},
title = {Evaluating immersive teleoperation interfaces: coordinating robot radiation monitoring tasks in nuclear facilities},
url = {http://dx.doi.org/10.1109/icra48891.2023.10161011},
year = {2023}
}

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TY  - CPAPER
AB  - We present a virtual reality (VR) teleoperation interface for a ground-based robot, featuring dense 3D environment reconstruction and a low latency video stream, with which operators can immersively explore remote environments. At the UK Atomic Energy Authority's (UKAEA) Remote Applications in Challenging Environments (RACE) facility, we applied the interface in a user study where trained robotics operators completed simulated nuclear monitoring and decommissioning style tasks to compare VR and traditional teleoperation interface designs. We found that operators in the VR condition took longer to complete the experiment, had reduced collisions, and rated the generated 3D map with higher importance when compared to non-VR operators. Additional physiological data suggested that VR operators had a lower objective cognitive workload during the experiment but also experienced increased physical demand. Overall the presented results show that VR interfaces may benefit work patterns in teleoperation tasks within the nuclear industry, but further work is needed to investigate how such interfaces can be integrated into real world decommissioning workflows.
AU  - Stedman,H
AU  - Kocer,BB
AU  - van,Zalk N
AU  - Kovac,M
AU  - Pawar,VM
DO  - 10.1109/icra48891.2023.10161011
EP  - 11978
PB  - IEEE
PY  - 2023///
SP  - 11972
TI  - Evaluating immersive teleoperation interfaces: coordinating robot radiation monitoring tasks in nuclear facilities
UR  - http://dx.doi.org/10.1109/icra48891.2023.10161011
UR  - http://hdl.handle.net/10044/1/106223
ER  - 

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