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<!DOCTYPE html>
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        content="HORUS is a mixed reality interface for managing teams of mobile robots in complex environments.">
  <meta name="keywords" content="HORUS, Mixed Reality, Multi-Robot, Teleoperation, Meta Quest 3">
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  <title>HORUS: A Mixed Reality Interface for Managing Teams of Mobile Robots</title>

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<section class="hero">
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          <h1 class="title is-1 publication-title">HORUS: A Mixed Reality Interface for Managing Teams of Mobile Robots</h1>
          <div class="is-size-5 publication-authors">
            <span class="author-block">
              <a href="https://rubrica.unige.it/personale/UkFEXVhg">Omotoye Shamsudeen Adekoya</a><sup>1</sup>*,
            </span>
            <span class="author-block">
              <a href="https://rubrica.unige.it/personale/UkNHWlJp">Antonio Sgorbissa</a><sup>1</sup>,
            </span>
            <span class="author-block">
              <a href="https://rubrica.unige.it/personale/UkNDWV1r">Carmine Tommaso Recchiuto</a><sup>1</sup>
            </span>
          </div>

          <div class="is-size-5 publication-authors">
            <span class="author-block"><sup>1</sup>DIBRIS Department, RICE Laboratory, University of Genoa, Italy</span>
          </div>
          <div class="is-size-6">
            * Corresponding author: omotoye.adekoya@edu.unige.it
          </div>
          <div class="logo-bar">
            <span class="logo-item">
              <img src="./static/images/rice_lab_logo.png" alt="RICE Lab logo"><sup>1</sup>
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            <span class="logo-item">
              <img src="./static/images/genoa_logo.png" alt="University of Genoa logo"><sup>1</sup>
            </span>
          </div>

          <div class="column has-text-centered">
            <div class="publication-links">
              <span class="link-block">
                <a href="https://arxiv.org/pdf/2506.02622.pdf"
                   class="external-link button is-normal is-rounded is-dark">
                  <span class="icon">
                      <i class="fas fa-file-pdf"></i>
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                  <span>Paper</span>
                </a>
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                <a href="https://arxiv.org/abs/2506.02622"
                   class="external-link button is-normal is-rounded is-dark">
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                      <i class="ai ai-arxiv"></i>
                  </span>
                  <span>arXiv</span>
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                  <span>Video</span>
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                <a href="https://github.com/RICE-unige/horus"
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                  <span>Code</span>
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                <a href="https://github.com/RICE-unige/horus/releases"
                   class="external-link button is-normal is-rounded is-dark">
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                      <i class="fas fa-download"></i>
                  </span>
                  <span>APK</span>
                  </a>
              </span>
              <span class="link-block">
                <a href="https://github.com/Omotoye/horus_bridge"
                   class="external-link button is-normal is-rounded is-dark">
                  <span class="icon">
                      <i class="fas fa-exchange-alt"></i>
                  </span>
                  <span>Bridge</span>
                  </a>
              </span>
            </div>

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</section>

<section class="hero teaser">
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    <div class="hero-body">
      <img src="./static/images/horus_logo.jpg" class="teaser-image" alt="HORUS mixed reality interface teaser">
      <h2 class="subtitle has-text-centered">
        HORUS delivers a mixed-reality command layer for multi-robot teams, blending situational awareness,
        task allocation, and teleoperation inside Meta Quest 3.
      </h2>
    </div>
  </div>
</section>


<section class="section">
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        <h2 class="title is-3">Abstract</h2>
        <div class="content has-text-justified">
          <p>
            Mixed Reality (MR) interfaces have been extensively explored for controlling mobile robots, but there
            is limited research on their application to managing teams of robots. This paper presents HORUS:
            Holistic Operational Reality for Unified Systems, a Mixed Reality interface offering a comprehensive
            set of tools for managing multiple mobile robots simultaneously. HORUS enables operators to monitor
            individual robot statuses, visualize sensor data projected in real time, and assign tasks to single robots,
            subsets of the team, or the entire group, all from a Mini-Map (Ground Station). The interface also provides
            different teleoperation modes: a mini-map mode that allows teleoperation while observing the robot model
            and its transform on the mini-map, and a semi-immersive mode that offers a flat, screen-like view in either
            single or stereo view (3D). We conducted a user study in which participants used HORUS to manage a team
            of mobile robots tasked with finding clues in an environment, simulating search and rescue tasks. This study
            compared HORUS's full-team management capabilities with individual robot teleoperation. The experiments
            validated the versatility and effectiveness of HORUS in multi-robot coordination, demonstrating its potential
            to advance human-robot collaboration in dynamic, team-based environments.
          </p>
        </div>
      </div>
    </div>

    <div class="columns is-centered has-text-centered">
      <div class="column is-four-fifths">
        <h2 class="title is-3">Video</h2>
        <div class="publication-video">
          <iframe src="https://www.youtube.com/embed/LqkptCTBrjs?rel=0&amp;showinfo=0"
                  frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
        </div>
      </div>
    </div>
  </div>
</section>

<section class="section">
  <div class="container is-max-desktop">
    <div class="columns is-centered">
      <div class="column is-full-width">
        <h2 class="title is-3">System Highlights</h2>
        <div class="content section-card">
          <ul>
            <li>Mixed reality interface for robot control and team management.</li>
            <li>Multi-robot task allocation with real-time status awareness.</li>
            <li>Live sensor data visualization and flexible camera views.</li>
            <li>Gesture-based controls optimized for Meta Quest 3.</li>
          </ul>
        </div>
      </div>
    </div>

    <div class="columns is-centered">
      <div class="column is-full-width">
        <h2 class="title is-3">Teleoperation Modes</h2>
        <div class="content section-card">
          <ul>
            <li>Minimap (ground-station) mode for 2D navigation and task assignment.</li>
            <li>Semi-immersive mode with large virtual displays for multi-camera feeds.</li>
            <li>Full immersion mode with direct front-camera video feed.</li>
          </ul>
        </div>
      </div>
    </div>

    <div class="columns is-centered">
      <div class="column is-full-width">
        <h2 class="title is-3">Getting Started</h2>
        <div class="content section-card">
          <p>
            Install the latest APK on Meta Quest 3, then run the HORUS Bridge on your laptop to connect
            robots and stream data into the interface.
          </p>
          <div class="publication-links">
            <span class="link-block">
              <a href="https://github.com/RICE-unige/horus/releases"
                 class="external-link button is-normal is-rounded is-dark">
                <span class="icon">
                    <i class="fas fa-download"></i>
                </span>
                <span>APK Releases</span>
              </a>
            </span>
            <span class="link-block">
              <a href="https://github.com/Omotoye/horus_bridge"
                 class="external-link button is-normal is-rounded is-dark">
                <span class="icon">
                    <i class="fas fa-network-wired"></i>
                </span>
                <span>HORUS Bridge</span>
              </a>
            </span>
          </div>
        </div>
      </div>
    </div>

  </div>
</section>


<section class="section" id="BibTeX">
  <div class="container is-max-desktop content">
    <h2 class="title">BibTeX</h2>
    <pre><code>@misc{adekoya2025horus,
  title     = {HORUS: A Mixed Reality Interface for Managing Teams of Mobile Robots},
  author    = {Adekoya, Omotoye Shamsudeen and Sgorbissa, Antonio and Recchiuto, Carmine Tommaso},
  year      = {2025},
  eprint    = {2506.02622},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url       = {https://github.com/RICE-unige/horus},
  pdf       = {https://arxiv.org/abs/2506.02622},
  note      = {arXiv preprint arXiv:2506.02622}
}</code></pre>
  </div>
</section>

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