多人协同操控机器人时，共处一地的混合现实界面更易达成默契协作。
A Multi-Operator Mixed-Reality Interface for Multi-Robot Control and Coordination: Co-Located and Private Workspace Collaboration
- 通过共用小地图与独立工作区双模式，支持多人同步操控机器人。
- 36人实验显示两种模式任务完成度相当，但共处模式协作感更强。
- 适合需要高效协同的机器人指挥场景，如搜救或军事任务。
多操作员协同控制机器人团队不仅需要共享任务信息，还需保持共同认知并避免指令冲突。基于此前的HORUS系统，本文提出一种混合现实接口，将单操作员多机器人监控扩展为多人协作使用。系统支持两种互补模式：共处式共享工作区（操作员在同一物理位置观察并操作同一迷你地图）和私有工作区模式（操作员在独立位置通过本地工作区执行相同任务）。该架构结合注册驱动的场景构建、轻量级会话同步及每台机器人控制租约机制，支持协同监控、任务分配与远程操控，同时防止冲突命令。在36名参与者（18对）操控三台Nova Carter移动机器人的实验中，两种模式的任务完成率相当，表明两者均能有效执行任务；但共处式共享工作区显著提升了协作感知、共同理解与交接清晰度，成为更受青睐的协作模式。结果表明，即使底层控制工具不变，物理共处的混合现实工作区也能显著改善操作员间的协调效果。
原文摘要 · Abstract (English)
Multi-operator control of robot teams requires not only access to the same mission information, but also mechanisms for maintaining shared awareness and preventing conflicting interventions. Building on our previous HORUS interface (Holistic Operational Reality for Unified Systems) we present a mixed-reality interface that extends single-operator multi-robot supervision to collaborative multi-operator use. The system supports two complementary modes: a co-located shared workspace, in which operators observe and manipulate the same mini-map in the same physical location, and a private-workspace mode, in which operators work on the same mission through independently placed local workspaces. The architecture combines registration-driven scene construction, lightweight shared-session synchronization, and per-robot control leases to support collaborative monitoring, tasking, and teleoperation while preventing conflicting commands. We evaluated the approach in a human-subject study with 36 participants (18 pairs) controlling three Nova Carter mobile robots in two search environments. The performance of the objective task was comparable across the two modes, indicating that both modes supported effective mission execution. However, the co-located shared workspace significantly improved perceived collaboration, shared understanding, and handoff clarity, and was the preferred collaborative mode. These results indicate that physically co-locating the MR workspace improves how operators coordinate even when the underlying robot-control tools remain unchanged.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。