Tele-Traversability: Rethinking Traversability for Teleoperated Ground Robots in Terrain Navigation

2026-09-16

AI Summary

本文针对远程操作地面机器人时人机对可通行性评估不一致的问题，提出了一种考虑操作员认知状态的新型可通行性概念——远程可通行性。

Abstract

Teleoperation, a human-in-the-loop control scheme, allows a human operator to remotely command and guide a mobile robot to navigate in off-road environments, yet fluent and user-friendly tele-navigation requires an alignment of traversability evaluation between human and robot. In the teleoperation system, the human operator typically utilizes off-site incomplete and delayed feedback via a human-machine interface to make a judgment of traversability, while the robot makes such an evaluation based on in situ onboard sensory information, which could cause divergent traversability estimation and thus generate mismatched decisions and actions. Existing approaches for traversability modeling, estimation, and prediction are mainly derived from the view of robots, i.e., robot-centric, and are practically suitable for fully autonomous mobile robots, but neglect the influence of human operators. To address this problem, this paper extends the concept of traversability from robot-centric to human-centric by accounting for the operator's cognitive states, such as attention, workload, and risk tolerance or awareness, termed tele-traversability. We first revisit the definitions and roles of traversability in robotics and then extend them to teleoperation settings. Finally, we highlight future trends and open challenges of tele-traversability toward human-centric teleoperation systems.

Problem

• teleoperation
• traversability
• human-centric

Innovation

• Tele-Traversability
• Human-Centric
• Cognitive States
• Teleoperation
• Traversability