VR-Based Control of Multi-Copter Operation
Fuente:
arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866912585250504704 |
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| author | Hughes, Jack T. Mazmanyan, Garegin Ghufran, Mohammad Rastgoftar, Hossein |
| author_facet | Hughes, Jack T. Mazmanyan, Garegin Ghufran, Mohammad Rastgoftar, Hossein |
| contents | We present a VR-based teleoperation system for multirotor flight that renders a third-person view (TPV) of the vehicle together with a live 3D reconstruction of its surroundings. The system runs on an embedded GPU (Jetson Orin NX) with ROS2-WebXR integration and streams geometry and video to a headset for closed-loop control in previously unmapped spaces. We implement a first-person video (FPV) baseline and perform matched trials with two pilots in unmapped indoor spaces. Quantitative metrics are reported from repeated trials with one pilot (N=8). TPV achieved task time comparable to FPV while improving proximal obstacle awareness (minimum obstacle distance +0.20m) and reducing contacts. These results indicate that TPV can preserve control quality while exposing hazards less visible in FPV, supporting safer teleoperation in unknown environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_22599 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | VR-Based Control of Multi-Copter Operation Hughes, Jack T. Mazmanyan, Garegin Ghufran, Mohammad Rastgoftar, Hossein Robotics We present a VR-based teleoperation system for multirotor flight that renders a third-person view (TPV) of the vehicle together with a live 3D reconstruction of its surroundings. The system runs on an embedded GPU (Jetson Orin NX) with ROS2-WebXR integration and streams geometry and video to a headset for closed-loop control in previously unmapped spaces. We implement a first-person video (FPV) baseline and perform matched trials with two pilots in unmapped indoor spaces. Quantitative metrics are reported from repeated trials with one pilot (N=8). TPV achieved task time comparable to FPV while improving proximal obstacle awareness (minimum obstacle distance +0.20m) and reducing contacts. These results indicate that TPV can preserve control quality while exposing hazards less visible in FPV, supporting safer teleoperation in unknown environments. |
| title | VR-Based Control of Multi-Copter Operation |
| topic | Robotics |
| url | https://arxiv.org/abs/2505.22599 |