Carnegie Mellon Robotics Institute
Vehicle teleoperation has traditionally been a domain for experts. Figuring out where the vehicle is, determining where it should go, and remotely driving it are complex problems. These problems can be difficult to solve, especially if the vehicle must operate in a hazardous environment, over a poor communications link, or with limited operator resources. As a result, expert operators are needed far more often than not.
My goal is to make vehicle teleoperation accessible to all users, novices and experts alike. Thus, I am creating easy-to-use user interfaces that enable efficient, robust teleoperation in unknown, unstructured environments (both indoor & outdoor). In particular, my thesis research focuses on "Collaborative Control", a new robot-centric model for teleoperation.
With "Collaborative Control", instead of the human always being "in charge", the robot works as a peer and makes requests of the human. In other words, the human is treated as an imprecise, limited source of planning and information, just like sensors and maps and other noisy modules.
I am currently conducting my thesis research at the Ecole Polytechnique Federale de Lausanne (Swiss Federal Institute of Technology) in Switzerland. At EPFL, I work in the Virtual Reality and Active Interfaces (VRAI) Group in collaboration with Dr. Charles Baur. I regularly direct EPFL undergraduate projects and each fall, I co-supervise an EPFL Master's student (thesis work performed while visiting CMU). I am also a member of the American Institute of Aeronautics and Astronautics (AIAA) "Space Automation and Robotics Technical Committee" (SARTC).
|Research Interest Keywords|
|field robotics, human-computer interaction, mobile robots, teleoperation|
|The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.|
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