HORUS让操作员用混合现实界面同时管理多台机器人，提升搜救类任务效率。
HORUS: A Mixed Reality Interface for Managing Teams of Mobile Robots
- 通过迷你地图和实时传感器投影，统一管理多机器人状态与任务
- 支持单机、分组及全队任务分配，用户研究验证其高效性
- 适合需要协同作业的救援、巡检等动态场景应用
混合现实（MR）接口已被广泛研究用于单个移动机器人的控制，但针对多机器人团队管理的研究仍有限。本文提出HORUS：面向统一系统的整体操作现实，一种集成化混合现实接口，可同时管理多个移动机器人。该系统使操作员能够监控各机器人状态、实时可视化传感器数据，并在地面站的迷你地图上为单个机器人、部分团队或全体分配任务。接口提供两种远程操控模式：迷你地图模式下可观察机器人模型及其在地图上的变换；半沉浸式模式则提供平面屏幕视图，支持单目或立体3D显示。我们开展了一项用户研究，参与者使用HORUS在模拟搜救环境中管理一组移动机器人寻找线索。实验对比了HORUS的全队管理能力与单机器人遥控的效果，验证了其在多机器人协同中的灵活性与有效性，展示了其在动态、团队协作环境中的应用潜力。
原文摘要 · Abstract (English)
Mixed Reality (MR) interfaces have been extensively explored for controlling mobile robots, but there is limited research on their application to managing teams of robots. This paper presents HORUS: Holistic Operational Reality for Unified Systems, a Mixed Reality interface offering a comprehensive set of tools for managing multiple mobile robots simultaneously. HORUS enables operators to monitor individual robot statuses, visualize sensor data projected in real time, and assign tasks to single robots, subsets of the team, or the entire group, all from a Mini-Map (Ground Station). The interface also provides different teleoperation modes: a mini-map mode that allows teleoperation while observing the robot model and its transform on the mini-map, and a semi-immersive mode that offers a flat, screen-like view in either single or stereo view (3D). We conducted a user study in which participants used HORUS to manage a team of mobile robots tasked with finding clues in an environment, simulating search and rescue tasks. This study compared HORUS's full-team management capabilities with individual robot teleoperation. The experiments validated the versatility and effectiveness of HORUS in multi-robot coordination, demonstrating its potential to advance human-robot collaboration in dynamic, team-based environments.
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