Comparative Evaluation of an XR Pen-based Control Interface for Semi-Autonomous Mobile Robot Navigation in Service Environments

arXiv:2609.31117 · cs.RO, cs.HC · Submitted 2026-09-25 · Read on arXiv

cs.RO, cs.HC

Submitted: 2026-09-25

Updated: 2026-09-25

Code: https://github.com/Unity-Technologies/ROS-TCPConnector

Terminology

• Augmented Reality — 9× in this paper
• Frustration — 8× in this paper · explained in 2 episodes
• Mixed Reality — 6× in this paper
• Accuracy — 2× in this paper · explained in 1 episode
• System Usability Scale — 2× in this paper
• Virtual Reality — 2× in this paper
• Abstraction — 1× in this paper · explained in 1 episode
• Degrees of Freedom — 1× in this paper
• Robot Operating System — 1× in this paper
• XR for Human-Robot Interaction — 1× in this paper

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