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A Guide for Developing Human-Robot Interaction Experiments in the Robotic Interactive Visualization and Experimentation Technology (RIVET) Simulation

Using computer gaming technology to improve the interaction between humans and unmanned ground vehicles.

ARL's Intelligent Systems Enterprise vision is to enable the teaming of autonomous intelligent systems with soldiers in dynamic, unstructured combat environments, as well as in non-combat military installations and base operations. To accomplish this vision for interdependent soldier-robot teaming, there has been a paradigm shift in robotic research conducted by ARL from the current instantiation of fielded remote-controlled or teleoperated robots to systems with increased intelligence, decision-making capability, and autonomy. This type of teaming is needed for future joint, interdependent, network-enabled operations.

RIVET Main Menu GUI

While the technological capabilities of robotic systems are advancing by the day, many of these new systems are still in the early stages of research and development. In many cases, areas of need or potential use have been identified, preliminary requirements have been created, and engineering solutions for prototype systems have been researched. However, the human element must be considered early on in this design process, because without considering human factors, such as human-system interfaces, performance, as well as trust and expectation, the potential result will be limited or inappropriate use of the system.

Computer-based simulation provides a safe, economical, and efficient means to assess human-robot interaction (HRI) throughout the robot life cycle. Simulation provides the opportunity for collaboration between soldiers and unmanned platforms at multiple levels in the design process, which can help guide the design process and provide needed feedback for development.

One such tool useful for analyzing HRI is the Robotic Interactive Visualization and Experimentation Technology (RIVET) simulation environment. RIVET version 1.0 was built using the Torque Game Engine (TGE) version 1.5.2, designed by GarageGames. It was designed by the ARL's Robotics Collaborative Technology Alliance (RCTA) to allow engineers to test and debug intelligence and perception algorithms for autonomous unmanned vehicles prior to field exercises. Simulation tools like RIVET can provide an essential initial evaluation of robotic algorithms and concepts in simulated environments that can be varied systematically. While RIVET was originally designed to test and debug algorithms, the design and capabilities of the software lend themselves to the development of HRI-specific missions with unmanned ground vehicles (UGVs).

Like most commercial off-the-shelf game engines, the TGE provides functionality for graphics, physics, artificial intelligence, lighting, and many other features. It provides all the necessary attributes and core functionality to conduct virtual experiments. Building a simulated environment involves several different activities necessary for HRI experimentation: 1) creating the virtual terrain surface, 2) adding static features typically found in the scene, 3) adding dynamic elements, such as people and vehicles, 4) producing the interactive graphical user interfaces (GUIs), 5) choosing the unmanned platform for the exercise, 6) implementing a user interface for the UGV, and finally, 7) assessing the user during a study.

RIVET can be used in single-user mode or multi-user mode depending on the problem statement and research goals. In single-user mode, RIVET loads the scene and then a user is able to access the world editor, GUI editor, or control an avatar (soldier, vehicle, etc.) using keyboard or joystick. Multi-user mode allows up to 64 local area networked users to join the mission as clients. These clients can be another vehicle, robot, soldier, or a sensor that is attached to an entity in the simulation. Currently, the choice of additional vehicle sensors within RIVET are cameras, laser detection and ranging (LADAR), and a custom interface used to connect other applications to the simulation environment.

Through the RIVET main menu, there are customization options that are available through buttons at the bottom of the menu screen. It is possible to load a customized user mission (Server computer), join a mission (Client computer), or mount a sensor to a vehicle or robot on the RIVET server computer (Client computer). In addition, the configuration menu allows customization of the video screen size, resolution, and vehicles.

This work was done by Kristin E Schaefer of Oak Ridge Associated Universities, and Ralph Brewer of the Army Research Laboratory. ARL-0197

Topics:
Aerospace Artificial intelligence (AI) Augmented / virtual reality Automation Autonomous vehicles Design processes Human factors Human machine interface (HMI) Research and development Simulation and modeling Test facilities Unmanned ground vehicles Vehicles Virtual reality
This Brief includes a Technical Support Package (TSP).
Document cover
A Guide for Developing Human-Robot Interaction Experiments in the Robotic Interactive Visualization and Experimentation Technology (RIVET) Simulation

(reference ARL-0197) is currently available for download from the TSP library.

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    Overview

    The document titled "A Guide for Developing Human-Robot Interaction Experiments in the Robotic Interactive Visualization and Experimentation Technology (RIVET) Simulation" was authored by Kristin E. Schaefer and Ralph Brewer and published by the US Army Research Laboratory in May 2016. It covers the period from September 2013 to December 2015 and is designated as a final report (ARL-TR-7683).

    The guide aims to provide researchers and practitioners with a structured approach to designing and conducting experiments that involve human-robot interactions using the RIVET simulation platform. RIVET is a sophisticated tool that allows for the visualization and experimentation of robotic systems in various scenarios, making it an essential resource for studying the dynamics of human-robot collaboration.

    The document outlines key methodologies for developing effective experimental designs, including considerations for participant selection, task design, and the measurement of interaction outcomes. It emphasizes the importance of creating realistic scenarios that accurately reflect the complexities of real-world interactions between humans and robots. The guide also discusses the significance of user experience and the need to assess how humans perceive and interact with robotic systems.

    In addition to methodological guidance, the document addresses the ethical implications of human-robot interactions, highlighting the necessity of ensuring participant safety and informed consent during experiments. It encourages researchers to consider the broader impacts of their work on society and the potential for robots to assist in various applications, from military operations to civilian tasks.

    The report is structured to facilitate easy navigation, with sections dedicated to specific aspects of experimental design and execution. It includes practical tips and best practices derived from previous research and experiments, making it a valuable resource for both novice and experienced researchers in the field.

    Overall, this guide serves as a comprehensive resource for developing human-robot interaction experiments, promoting a deeper understanding of how these interactions can be optimized for various applications. It is approved for public release, ensuring that the insights and methodologies presented are accessible to a wide audience interested in advancing the field of robotics and human-robot collaboration.

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