Gaze-directed telemetry in high latency wireless communications: The case of robot teleoperation

Abstract

The proposed telemetry system consists of a graphical user interface with reconfigurable multiple widgets whose transmission is prioritised based on the user's gaze. The proposed approach encompasses a novel framework for telemetry of remote machines, based on ROS (Robot Operating System). It includes a modular ensemble of GUI, gaze device interoperability, and a ROS sensory topic modulator, which alternates different strategies to optimise all displayed information transmission quality, in a way that best suits the user. The approach was validated on a teleoperation scenario having multiple users control a robot in a designed course.