  WareVR is a novel human-robot interface based on a virtual reality (VR)
application to interact with a heterogeneous robotic system for automated
inventory management. We have created an interface to supervise an autonomous
robot remotely from a secluded workstation in a warehouse that could benefit
during the current pandemic COVID-19 since the stocktaking is a necessary and
regular process in warehouses, which involves a group of people. The proposed
interface allows regular warehouse workers without experience in robotics to
control the heterogeneous robotic system consisting of an unmanned ground
vehicle (UGV) and unmanned aerial vehicle (UAV). WareVR provides visualization
of the robotic system in a digital twin of the warehouse, which is accompanied
by a real-time video stream from the real environment through an on-board UAV
camera. Using the WareVR interface, the operator can conduct different levels
of stocktaking, monitor the inventory process remotely, and teleoperate the
drone for a more detailed inspection. Besides, the developed interface includes
remote control of the UAV for intuitive and straightforward human interaction
with the autonomous robot for stocktaking. The effectiveness of the VR-based
interface was evaluated through the user study in a "visual inspection"
scenario.
