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3.3 Using augmented reality to interact with an
autonomous mobile platform
The work of Giesler et al. [21] presents an AR-based, speech-based
technique to quickly and intuitively program paths for a mobile robot
in a wide environment.
The operator who programs the robot needs a HMD and a tool
(“magic wand”), both of which have to be tracked around the envi-
ronment where the paths will be set up. The operator may define and
view paths in form of nodes, which correspond to points on the ground,
and edges, straight lines which connect couples of nodes (figure 12).
Nodes and edges are created by pointing to the ground with the wand
and issuing verbal commands (e.g. “Connect this node...”, “...with this
node”) and are visualized by the HMD worn by the operator.
Figure 12: Robot follows AR path nodes, redirects when obstacle in way. [21]
The operator may issue commands to the mobile robot in the same
manner. It is possible to command the robot to move from one node
of the graph to another, or to move autonomously between two deter-
minate points of the ground. When the robot has to navigate within
the graph, it calculates automatically the shortest sequence of edges
between the start node and the end node. If it detects an obstacle on
the path it has just chosen, it calculates an alternative path through
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