%A Isop,Werner Alexander %A Gebhardt,Christoph %A Nägeli,Tobias %A Fraundorfer,Friedrich %A Hilliges,Otmar %A Schmalstieg,Dieter %D 2019 %J Frontiers in Robotics and AI %C %F %G English %K telerobotics,System design,Indoor Exploration Tasks,Teleoperation systems,Unmanned Aerial Vehicles - UAV,Scene abstraction %Q %R 10.3389/frobt.2019.00095 %W %L %M %P %7 %8 2019-October-23 %9 Original Research %# %! High-Level Teleoperation System %* %< %T High-Level Teleoperation System for Aerial Exploration of Indoor Environments %U https://www.frontiersin.org/articles/10.3389/frobt.2019.00095 %V 6 %0 JOURNAL ARTICLE %@ 2296-9144 %X Exploration of challenging indoor environments is a demanding task. While automation with aerial robots seems a promising solution, fully autonomous systems still struggle with high-level cognitive tasks and intuitive decision making. To facilitate automation, we introduce a novel teleoperation system with an aerial telerobot that is capable of handling all demanding low-level tasks. Motivated by the typical structure of indoor environments, the system creates an interactive scene topology in real-time that reduces scene details and supports affordances. Thus, difficult high-level tasks can be effectively supervised by a human operator. To elaborate on the effectiveness of our system during a real-world exploration mission, we conducted a user study. Despite being limited by real-world constraints, results indicate that our system better supports operators with indoor exploration, compared to a baseline system with traditional joystick control.