MRReP：混合现实手绘路径编辑界面
提出MRReP，一种基于混合现实的界面，允许用户在物理地面用手势绘制手绘参考路径(HRP)，并通过自定义规划器将点序列转为机器人全局导航路径。与传统二维界面在被试内实验比较，MRReP提升了路径指定精度、可用性与稳定性并降低感知工作负荷，表明在移动机器人导航中直接以MR指定路径可有效纳入人类空间意图。
原文内容
arXiv:2604.00059v1 Announce Type: new
Abstract: Autonomous mobile robots operating in human-shared indoor environments often require paths that reflect human spatial intentions, such as avoiding interference with pedestrian flow or maintaining comfortable clearance. However, conventional path planners primarily optimize geometric costs and provide limited support for explicit route specification by human operators. This paper presents MRReP, a Mixed Reality-based interface that enables users to draw a Hand-drawn Reference Path (HRP) directly on the physical floor using hand gestures. The drawn HRP is integrated into the robot navigation stack through a custom Hand-drawn Reference Path Planner, which converts the user-specified point sequence into a global path for autonomous navigation. We evaluated MRReP in a within-subject experiment against a conventional 2D baseline interface. The results demonstrated that MRReP enhanced path specification accuracy, usability, and perceived workload, while enabling more stable path specification in the physical environment. These findings suggest that direct path specification in MR is an effective approach for incorporating human spatial intention into mobile robot navigation. Additional material is available at https://mertcookimg.github.io/mrrep
Abstract: Autonomous mobile robots operating in human-shared indoor environments often require paths that reflect human spatial intentions, such as avoiding interference with pedestrian flow or maintaining comfortable clearance. However, conventional path planners primarily optimize geometric costs and provide limited support for explicit route specification by human operators. This paper presents MRReP, a Mixed Reality-based interface that enables users to draw a Hand-drawn Reference Path (HRP) directly on the physical floor using hand gestures. The drawn HRP is integrated into the robot navigation stack through a custom Hand-drawn Reference Path Planner, which converts the user-specified point sequence into a global path for autonomous navigation. We evaluated MRReP in a within-subject experiment against a conventional 2D baseline interface. The results demonstrated that MRReP enhanced path specification accuracy, usability, and perceived workload, while enabling more stable path specification in the physical environment. These findings suggest that direct path specification in MR is an effective approach for incorporating human spatial intention into mobile robot navigation. Additional material is available at https://mertcookimg.github.io/mrrep