Systems and methods of remote teleoperation of robotic vehicles

One or more non-transitory, computer readable media storing instructions thereon for teleoperation of a vehicle located in a field of view of a camera comprising, wherein the instructions cause one or more processors to perform operations comprising:

• receiving, from an input device coupled to a user interface device, a desired direction of motion of a first unmanned vehicle in a user interface reference frame;
• receiving, via a first wireless network connection associated with a second unmanned vehicle that is coupled to a remote camera, a first position of the remote camera in a global reference frame, wherein the first unmanned vehicle is within a field of view of the remote camera and the remote camera provides visual data of the first unmanned vehicle for projection on the user interface reference frame;
• receiving, via a second network connection coupled to the first unmanned vehicle, a second position of the first unmanned vehicle in the global reference frame;
• generating, based on the first position of the remote camera in the global reference frame, the desired direction of motion in the user interface reference frame, and the second position of the first unmanned vehicle in the global reference frame, a direction of motion of the first unmanned vehicle in a vehicle reference frame, wherein the direction of the motion of the first unmanned vehicle corresponds to the desired direction of movement of the first unmanned vehicle in the user interface reference frame;
• transmitting the direction of motion to the first unmanned vehicle;
• and
• controlling the first unmanned vehicle to move in the direction of motion in the vehicle reference frame.

A system comprising:

• one or more processors;
• and
• one or more non-transitory, computer-readable storage media storing instructions, which when executed by the one or more processors cause the one or more processors to perform operations comprising:
• receiving, from an input device coupled to a user interface device, a desired direction of motion of a first vehicle in a user interface reference frame;
• receiving, via a first wireless network connection associated with a second vehicle that is coupled to a remote camera, a first position of the remote camera in a global reference frame, wherein the first vehicle is within a field of view of the remote camera and the remote camera provides visual data of the first vehicle for projection on the user interface reference frame;
• receiving, via a second network connection coupled to the first vehicle, a second position of the first vehicle in the global reference frame;
• generating, based on the first position of the remote camera in the global reference frame, the desired direction of motion in the user interface reference frame, and the second position of the first vehicle in the global reference frame, a direction of the first vehicle in a vehicle reference frame, wherein the direction of the motion of the first vehicle corresponds to the desired direction of movement of the first vehicle in the user interface reference frame;
• transmitting the direction of motion to the first vehicle;
• and
• controlling the first vehicle to move in the direction of motion in the vehicle reference frame.