An Architecture for AR-based Human-Machine Interaction with Application to an Autonomous Mobile Robot Platform

Abstract:
This paper introduces a reference architecture for using augmented reality to interact with autonomous robotic systems. The architecture especially highlights the range of components required for systematically moving such systems’ digital twins into augmented reality. We furthermore apply the proposed principles to an autonomous mobile platform. The platform, based on a nonholonomic mechanism, is laid out to cover the range of considered interaction and visualization aspects while being demonstrative and straightforward for understanding.