Mixed Reality Collaboration Between Human-Agent Teams

Collaboration between two or more geographically dispersed teams has applications in research and training. In many cases specialized devices, such as robots, may need to be combined between the collaborating groups. However, it would be expensive or even impossible to collocate them at a single physical location. We describe the design of a mixed reality test bed which allows dispersed humans and physically embodied agents to collaborate within a single virtual environment. We demonstrate our approach using Unity's networking architecture as well as open source robot software and hardware. In our scenario, a total of 3 humans and 6 drones must move through a narrow doorway while avoiding collisions in the physical spaces as well as virtual space.