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：面向服务与工业目的的机器人日益普及，这需要通用、直观且便携的交互方式。特别是在工业环境中，操作员应能够快速、有效且尽可能轻松地与机器人进行交互。为此，现实增强技术已被用于实现高效管理并简化交互过程，尤其是在制造与物流领域。基于此，本文提出一种基于混合现实的系统，在动态场景中为异构机器人系统提供泛在化的交互界面，用户可在不同任务中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之交互，该虚拟副本始终与用户共位，并在需要交互时被提取。该系统已在模拟的室内物流环境中完成测试，该环境存在多种机器人，需要执行其他任务的操作员进行临时干预。在设定中，我们考虑了具备不同自主程度的无人机与自动导引车（AGV），从而要求用户实施不同的干预方式。所提方法已在虚拟现实环境中完成验证，并进行了性能定量/定性评估及用户反馈收集。