  The growing spread of robots for service and industrial purposes calls for
versatile, intuitive and portable interaction approaches. In particular, in
industrial environments, operators should be able to interact with robots in a
fast, effective, and possibly effortless manner. To this end, reality
enhancement techniques have been used to achieve efficient management and
simplify interactions, in particular in manufacturing and logistics processes.
Building upon this, in this paper we propose a system based on mixed reality
that allows a ubiquitous interface for heterogeneous robotic systems in dynamic
scenarios, where users are involved in different tasks and need to interact
with different robots. By means of mixed reality, users can interact with a
robot through manipulation of its virtual replica, which is always colocated
with the user and is extracted when interaction is needed. The system has been
tested in a simulated intralogistics setting, where different robots are
present and require sporadic intervention by human operators, who are involved
in other tasks. In our setting we consider the presence of drones and AGVs with
different levels of autonomy, calling for different user interventions. The
proposed approach has been validated in virtual reality, considering
quantitative and qualitative assessment of performance and user's feedback.
