MEDIATED REALITY-BASED DIRECTIONAL VISUAL GUIDANCE FOR 360° IMMERSIVE ROBOT TELEOPERATION IN SEARCH AND RESCUE SCENARIOS

Abstract

Robot teleoperation plays a crucial role in Search and Rescue (SAR) scenarios where operators must perform multiple tasks in unpredictable, high-stress environments. Immersive technologies enhance spatial awareness and presence, particularly with a 360- degree view; yet, little is known about the effect of Mediated Reality (MeR) visual guidance in real-time 360° teleoperation. This thesis presents a framework for designing MeR visual guidance for 360° immersive robot teleoperation. A 360° MeR guidance system was implemented and evaluated through two controlled user studies. The exploratory user study compared two MeR techniques with a zero-guidance condition, showing significant improvements in task completion time and reductions in cognitive load, while also introducing a tradeoff between increased performance and reduced agency. A validation study then assessed static and dynamic directional cues in comparison to non-directional visual guidance, demonstrating additional benefits of directional guidance in lowering both mental and physical demands without evidence of increased motion sickness or changes in agency. Despite the significant increase in perceived performance, the predicted decrease in task completion time could not be statistically supported. Overall, the results show that MeR-based visual guidance can enhance efficiency and reliably reduces cognitive load in 360° SAR teleoperation. The framework contributes to effective design strategies for 360° visual guidance, with implications for advancing human-robot interaction in rescue missions.