QoE and Task Performance Assessment of Mobile Robot Teleoperation via a VR-based Interface

A mobile robotic platform is typically equipped with motors to enable movement, various sensors to perceive the environment, computing systems, and communication modules that allow remote control (teleoperation) or integration into larger systems. Teleoperation of such platforms often relies on real-time visual feedback, typically provided through camera feeds. Utilizing immersive interfaces, particularly those leveraging virtual reality (VR), offers a heightened sense of presence and spatial awareness, with the potential to enhance both user experience and task performance. We describe the design of a VR-based interface for intuitive teleoperation of a mobile robotic platform via a private 5G network infrastructure, enabling real-time navigation and manipulation by utilizing a synchronized virtual replica of the robot and environment. We evaluate teleoperation performance in terms of user experience and navigation task completion time for different teleoperation view modes (first person view, VR view with camera feed, VR view without camera feed), and robot control methods (manual vs. point-and-click).