Hector UI: A Flexible Human-Robot User Interface for (Semi-)Autonomous Rescue and Inspection Robots

-- The remote human operator's user interface (UI) is an important link to make the robot an efficient extension of the operator's perception and action. In rescue applications, several studies have investigated the design of operator interfaces based on observations during major robotics competitions or field deployments. Based on this research, guidelines for good interface design were empirically identified. The investigations on the UIs of teams participating in competitions are often based on external observations during UI application, which may miss some relevant requirements for UI flexibility. In this work, we present an open-source and flexibly configurable user interface based on established guidelines and its exemplary use for wheeled, tracked, and walking robots. We explain the design decisions and cover the insights we have gained during its highly successful applications in multiple robotics competitions and evaluations. The presented UI can also be adapted for other robots with little effort and is available as open source. I. INTRODUCTION The response to natural and man-made disasters can be extremely dangerous for the human rescue forces but obtaining information about the current situation at hand is critical for planning and execution of any rescue or disaster response mission. In many cases, an area or a building structure can not be inspected by first responders before risks are reduced, e.g., fires are under control or a building structure is reinforced.