Summary: Proceedings of SPIE Vol. 4195: Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, Boston, USA, 5 - 8 November, 2000.
A Multi Modal Web Interface
for Task Supervision and Specification
Benoît Moreau, Nicola Tomatis, Kai O. Arras, Björn Jensen, Roland Siegwart
Swiss Federal Institute of Technology Lausanne (EPFL)
CH-1015 Lausanne EPFL, Switzerland
In this paper we present a multi-modal web interface for autonomous mobile robots. The purpose of this interface is
twofold. It serves as a tool for task supervision for the researcher and task specification for the end-user. The applications
envisaged are typical service scenarios like remote inspection, transportation tasks or tour guiding.
Instead of post-processing a huge amount of data gathered and stored during operation, it is very desirable for the developer
to monitor specific internal variables of the target system in real-time. Sensory information on several levels of abstraction
are visualized using state-of-the-art web technology yielding a plug-in-free interface which can be viewed with a standard
browser. It provides multi-modal information in several representations: off- and on-board vision, laser and odometry. This
tool proved to be indispensable in the developing phase of navigation algorithms for localization, map building, obstacle
avoidance and path planning.
Modern guidelines for ergonomic interface design like context-sensitive popup menus or clickable goal specification make
the interface very intuitive for the end-user.
Its practicability is extensively demonstrated in the 'Computer2000' exhibition event, where during 4 days the robot was
remote controlled in a fully autonomous mode by visitors of the tradeshow using this interface.