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A HRI study with 31 expert robot operators established that an external viewpoint from an assisting robot could increase teleoperation performance by 14% to 58% while reducing human error by 87% to 100% This video illustrates those findings with a side-by-side comparison of the best and worst viewpoints for the passability and traversability affordances. The passability scenario uses a small unmanned aerial system as a visual assistant that can reach any viewpoint on the idealized hemisphere surrounding the task action. The traversability scenario uses a small ground robot that is restricted to a subset of viewpoints that are reachable.

Best and Worst External Viewpoints for Teleoperation Visual Assistance