HAVEN: A Unity-based Virtual Robot Environment to Showcase HRI-based Augmented Reality

Due to the COVID-19 pandemic, conducting Human-Robot Interaction (HRI) studies in person is not permissible due to social distancing practices to limit the spread of the virus. Therefore, a virtual reality (VR) simulation with a virtual robot may offer an alternative to real-life HRI studies. Like a real intelligent robot, a virtual robot can utilize the same advanced algorithms to behave autonomously. This paper introduces HAVEN (HRI-based Augmentation in a Virtual robot Environment using uNity), a VR simulation that enables users to interact with a virtual robot. The goal of this system design is to enable researchers to conduct HRI Augmented Reality studies using a virtual robot without being in a real environment. This framework also introduces two common HRI experiment designs: a hallway passing scenario and human-robot team object retrieval scenario. Both reflect HAVEN's potential as a tool for future AR-based HRI studies.