The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast, effective, and possibly effortless manner. To this end, reality enhancement techniques have been used to achieve efficient management and simplify interactions, in particular in manufacturing and logistics processes. Building upon this, in this paper we propose a system based on mixed reality that allows a ubiquitous interface for heterogeneous robotic systems in dynamic scenarios, where users are involved in different tasks and need to interact with different robots. By means of mixed reality, users can interact with a robot through manipulation of its virtual replica, which is always colocated with the user and is extracted when interaction is needed. The system has been tested in a simulated intralogistics setting, where different robots are present and require sporadic intervention by human operators, who are involved in other tasks. In our setting we consider the presence of drones and AGVs with different levels of autonomy, calling for different user interventions. The proposed approach has been validated in virtual reality, considering quantitative and qualitative assessment of performance and user's feedback.

翻译：服务与工业用途机器人的日益普及要求采用通用、直观且便携的交互方式。特别是在工业环境中，操作人员应能够以快速、有效且尽可能轻松的方式与机器人进行交互。为此，现实增强技术已被用于实现高效管理并简化交互，尤其是在制造和物流流程中。基于此，本文提出了一种基于混合现实的系统，该系统能够在动态场景下为异构机器人系统提供普适交互接口，使用户能够参与不同任务并需与不同机器人进行交互。通过混合现实技术，用户可通过操控机器人的虚拟副本与其进行交互，该副本始终与用户共处，并在需要交互时被调用。该系统已在模拟内部物流环境中进行了测试，其中存在多种机器人，需要由从事其他任务的人类操作员进行偶发性干预。在我们的设定中，考虑了具有不同自主程度的无人机和AGV，需要用户进行不同程度的干预。所提出的方法已在虚拟现实中完成验证，并基于性能的定量与定性评估以及用户反馈进行了验证。