Towards Increasing Robot Autonomy in CHARM Facility: Network Performance, 3D Perception, and Human Robot Interface

David Forkel, David Forkel, Pejman Habibiroudkenar, Pejman Habibiroudkenar, Enric Cervera, Raúl Mari´n-Prades, Lucas Comte, Eloise Matheson, Christopher McGreavy, Luca Buonocore, Josep Mari´n-Garcés, Mario Di Castro

2024

Abstract

The CHARMBot robot performs remote inspections in CERN’s CHARM facility, with its operations currently managed through teleoperation. This study investigates the challenges and potential solutions to enhance CHARMBot’s autonomy, focusing on network performance, 3D perception, and the graphical user interface (GUI). The communication network can experience constraints, as demonstrated in Experiment 1, which highlights the latency in transmitting compressed images to the operator at the control station. Under certain conditions, this latency can significantly impact manual control, leading to TCP buffer congestion and displaying images to the user with a delay of up to 10 seconds, depending on the network congestion, requested resolution and compression rate. To improve user interaction and environmental perception, CHARMBot needs to be equipped with advanced sensors such as 3D LiDAR and stereo camera. Enhancing the robot’s autonomy is crucial for safe interventions, allowing the remote operator to interact with the robot via a supervised interface. The experiments characterize the network’s performance in transmitting compressed images and propose a ”lightweight” visualization mode. Preliminary experiments on 3D perception using LiDAR and stereo camera and mesh creation of the environment are discussed. Future work will focus on better integration of these components and conducting a proof-of-concept experiment to demonstrate the system’s safety.

Paper Citation

in Harvard Style

Forkel D., Habibiroudkenar P., Cervera E., Mari´n-Prades R., Comte L., Matheson E., McGreavy C., Buonocore L., Mari´n-Garcés J. and Di Castro M. (2024). Towards Increasing Robot Autonomy in CHARM Facility: Network Performance, 3D Perception, and Human Robot Interface. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 445-452. DOI: 10.5220/0013020100003822

in Bibtex Style

@conference{icinco24,
author={David Forkel and Pejman Habibiroudkenar and Enric Cervera and Raúl Mari´n-Prades and Lucas Comte and Eloise Matheson and Christopher McGreavy and Luca Buonocore and Josep Mari´n-Garcés and Mario Di Castro},
title={Towards Increasing Robot Autonomy in CHARM Facility: Network Performance, 3D Perception, and Human Robot Interface},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={445-452},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013020100003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Towards Increasing Robot Autonomy in CHARM Facility: Network Performance, 3D Perception, and Human Robot Interface
SN - 978-989-758-717-7
AU - Forkel D.
AU - Habibiroudkenar P.
AU - Cervera E.
AU - Mari´n-Prades R.
AU - Comte L.
AU - Matheson E.
AU - McGreavy C.
AU - Buonocore L.
AU - Mari´n-Garcés J.
AU - Di Castro M.
PY - 2024
SP - 445
EP - 452
DO - 10.5220/0013020100003822
PB - SciTePress