The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

Telerobotic systems have traditionally been designed and operated from a human point of view. Though this approach suffices for some domains, it is sub-optimal for tasks such as operating multiple vehicles or controlling planetary rovers. Thus, we believe it is worthwhile to examine a new approach: collaborative control. In this robot-centric teleoperation model, instead of the human always being "in charge", the robot works as a peer and makes requests of the human. In other words, the human is treated as an imprecise, limited source of information, planning and capability, just as other noisy system modules. To examine the numerous human-machine interaction and design issues raised by this new approach, we are building a vehicle teleoperation system using collaborative control. In this paper, we present our current design and implementation.

Notes

Text Reference

Terrence W. Fong, Chuck Thorpe, and C. Baur, "Collaborative Control: A Robot-Centric Model for Vehicle Teleoperation," AAAI 1999 Spring Symposium: Agents with Adjustable Autonomy, March, 1999.

BibTeX Reference

@inproceedings{Fong_1999_2790,
   author = "Terrence W Fong and Chuck Thorpe and C. Baur",
   title = "Collaborative Control: A Robot-Centric Model for Vehicle Teleoperation",
   booktitle = "AAAI 1999 Spring Symposium: Agents with Adjustable Autonomy",
   month = "March",
   year = "1999",
}

The Robotics Institute

Menu