Software architecture for interactive robot teleoperation.

ABSTRACTIn this paper, we present a software architecture for interactive and collaborative underwater robot teleoperation. This work is in the context of the Digital Ocean Europe project that aims at digitalizing seafloor sites in 3D imagery using underwater robots (ROVs), and uses this information in order to edit interactive, virtually animated environments diffused online. The work presented in this paper concerns the software architecture of the interactive system in order to collaboratively teleoperate the robot, using two types of interfaces: 1) an intuitive web interface and 2) a Virtual Reality (VR) platform. The particularity of our system is the separation of the systems' functional core from its interfaces, which enables greater flexibility in teleoperating the robot. We discuss the conceptual software architecture as well as the implementation of the systems' interfaces.