| _version_ | 1866901959188938752 |
|---|---|
| author | Adekoya, Omotoye Sgorbissa, Antonio Recchiuto, Carmine |
| author_facet | Adekoya, Omotoye Sgorbissa, Antonio Recchiuto, Carmine |
| contents | We present an update on HORUS Holistic Operational Reality for Unified Systems), a mixed-reality (MR) interface for managing heterogeneous robot teams from a Meta Quest~3 headset. HORUS anchors robot state, plans, sensor data, and controls in a shared mini-map (``Ground Station'') with per-robot {Robot Manager} panels and a semi-immersive view for precise teleoperation. Relative to the prior wheeled-robot study, we (i) move to ROS~2 for local/remote operation, (ii) replace post-hoc map merging with multi-robot SLAM maintaining a single shared occupancy map, (iii) add a usable legged integration (Boston Dynamics Spot) with a body/stance panel while preserving the wheeled workflow, (iv) implement an aerial pathway flight-tested indoors, and (v) define an ongoing} LLM planner copilot that communicates plan intent via concise text and lightweight 3D highlights. We restate key numbers from the wheeled phase and include the evaluated architecture. |
| format | Recurso digital |
| id | zenodo_https___doi_org_10_5281_zenodo_17629902 |
| institution | Zenodo |
| language | |
| publishDate | 2025 |
| publisher | Zenodo |
| record_format | zenodo |
| spellingShingle | Mixed-Reality Interface for Robot Teams Adekoya, Omotoye Sgorbissa, Antonio Recchiuto, Carmine Mixed Reality multi-robot systems human--robot interaction supervisory control We present an update on HORUS Holistic Operational Reality for Unified Systems), a mixed-reality (MR) interface for managing heterogeneous robot teams from a Meta Quest~3 headset. HORUS anchors robot state, plans, sensor data, and controls in a shared mini-map (``Ground Station'') with per-robot {Robot Manager} panels and a semi-immersive view for precise teleoperation. Relative to the prior wheeled-robot study, we (i) move to ROS~2 for local/remote operation, (ii) replace post-hoc map merging with multi-robot SLAM maintaining a single shared occupancy map, (iii) add a usable legged integration (Boston Dynamics Spot) with a body/stance panel while preserving the wheeled workflow, (iv) implement an aerial pathway flight-tested indoors, and (v) define an ongoing} LLM planner copilot that communicates plan intent via concise text and lightweight 3D highlights. We restate key numbers from the wheeled phase and include the evaluated architecture. |
| title | Mixed-Reality Interface for Robot Teams |
| topic | Mixed Reality multi-robot systems human--robot interaction supervisory control |
| url | https://doi.org/10.5281/zenodo.17629902 |