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Tele-Supervised Autonomous Robotics (T-SAR) Heads: Gregg Podnar and John Dolan Contact: Gregg Podnar (gwp@cmu.edu) Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213

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Lab Description

Research in the T-SAR lab focusses on providing end-to-end tools for telesupervision of autonomous robots. This includes MARTA - our flexible Multilevel-Autonomy Robot Telesupervision Architecture for multi-robot planning and monitoring, autonomous navigation, hazard and assistance detection, high-fidelity telepresence and teleoperation, and task-specific vehicles and support systems.

Personnel [Past members]

	Name	Title	Email Address
	Christopher Baker	PhD Student, RI	tallbaker@cmu.edu
	H. Benjamin Brown	Project Scientist	hbb@cs.cmu.edu
	John Dolan	Senior Systems Scientist	jmd@cs.cmu.edu
	Alan D. Guisewite	Webmaster/Special Proj Asst	adg@cmu.edu
	Bryan Low	PhD Student, ECE	klow@andrew.cmu.edu
	Gregg Podnar	Program Manager	gwp@cmu.edu
	Ellie Lin Ratliff	PhD Student, RI	elliel@andrew.cmu.edu
	Stephen B Stancliff	Research Programmer	stancliff@cmu.edu

Current Projects [Past Projects]

Explosive Ordnance Disposal Robot - Very Low Cost - We are deveopling a suite of highly capable mobile robots for Explosive Ordnance Disposal and First Responders which are very low in total ownership costs.

Telesupervised Adaptive Ocean Sensor Fleet - We are developing a HAB Investigation Telesupervised Adaptive Sensor System (HABITASS) to address the limitations of existing systems.

Recent publications [View all 30 publications]

• Multi-Level Autonomy Robot Telesupervision
  G. Podnar, J. Dolan, A. Elfes, and M. Bergerman
  Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA '08), May, 2008. [Abstract]
  Download: pdf [6410 KB] copyrighted

• Operation of Robotic Science Boats Using the Telesupervised Adaptive Ocean Sensor Fleet System
  G. Podnar, J. Dolan, and A. Elfes
  Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA '08), May, 2008. [Abstract]
  Download: pdf [9340 KB] copyrighted

• Scheduling for Humans in Multirobot Supervisory Control
  S. Mau and J. Dolan
  Proceedings of the International Conference on Intelligent Robots and Systems (IROS '07), October, 2007, pp. 1637 - 1643. [Abstract]
  Download: pdf [574 KB] copyrighted

• Human Telesupervision of Very Heterogeneous Planetary Robot Teams
  G. Podnar, J. Dolan, A. Elfes, and M. Bergerman
  Proceedings of the 45th AIAA Aerospace Sciences Meeting (AIAA 2007), September, 2007. [Abstract]
  Download: pdf [7699 KB] copyrighted

• The Telesupervised Adaptive Ocean Sensor Fleet
  A. Elfes, G. Podnar, J. Dolan, S.B. Stancliff, E.L. Ratliff, J. Hosler, T. Ames, J. Moisan, T. Moisan, J. Higinbotham, and E. Kulczycki
  Proceedings of the SPIE Conference on Atmospheric and Environmental Remote Sensing Data Processing and Utilization III: Readiness for GEOSS, August, 2007. [Abstract]
  Download: pdf [703 KB] copyrighted

• Scheduling for Humans and Team Size Issues in Multirobot Supervisory Control
  S. Mau
  master's thesis, tech. report CMU-RI-TR-07-20, Robotics Institute, Carnegie Mellon University, June, 2007. [Abstract]
  Download: pdf [2366 KB] copyrighted

• Harmful Algal Bloom Characterization Via the Telesupervised Adaptive Ocean Sensor Fleet
  J. Dolan, G. Podnar, S.B. Stancliff, E.L. Ratliff, J. Higinbotham, J. Hosler, T. Ames, J. Moisan, T. Moisan, and A. Elfes
  Proc. NASA Science Technology Conference 2007 (NSTC-07), May, 2007. [Abstract]
  Download: pdf [503 KB] copyrighted

• Adaptive Sampling for Multi-Robot Wide-Area Exploration
  K.H. Low, G. Gordon, J. Dolan, and P. Khosla
  Proceedings of the IEEE 2007 International Conference on Robotics and Automation (ICRA '07), April, 2007. [Abstract]
  Download: pdf [122 KB] copyrighted

• Scheduling to Minimize Downtime in Human-Multirobot Supervisory Control
  S. Mau and J. Dolan
  Workshop on Planning and Scheduling for Space, October, 2006. [Abstract]
  Download: pdf [373 KB] copyrighted

• On the Interdependence of Sensing and Estimation Complexity in Sensor Networks
  Y. Rachlin, R. Negi, and P. Khosla
  Proceedings of the Fifth International Symposium on Information Processing in Sensor Networks (IPSN '06), April, 2006. [Abstract]
  Download: pdf [536 KB] copyrighted