The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

Construction and assembly are complex and arduous tasks, especially when performed in hazardous environments such as in orbit, on the Moon, or on Mars. Effective assembly of structures in such environments, where human labor is expensive and scarce, can be facilitated by the use of heterogeneous robotic teams. Over the past five years, we have developed the architectural framework and tools to coordinate robotic assembly teams, as well as to incorporate the unique skills of remote human operators using an approach that allows authority to "slide" between autonomy and human control at a fine degree of granularity. We have used this approach in several assembly scenarios, and have quantified the gains in reliability and efficiency over both purely autonomous and purely teleoperation approaches.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center, Quality of Life Technology Center, and Field Robotics Center

Associated Lab(s) / Group(s): Human-Robot Interaction Group

Associated Project(s): TRESTLE: Autonomous Assembly by Teams of Coordinated Robots

Number of pages: 6

Text Reference

Reid Simmons, Sanjiv Singh, Frederik Heger, Laura M. Hiatt, Seth C. Koterba, Nicholas Melchior, and Brennan Peter Sellner, "Human-Robot Teams for Large-Scale Assembly," Proceedings of the NASA Science Technology Conference 2007 (NSTC-07), May, 2007.

BibTeX Reference

@inproceedings{Simmons_2007_5751,
   author = "Reid Simmons and Sanjiv Singh and Frederik Heger and Laura M. Hiatt and Seth C Koterba and Nicholas Melchior and Brennan Peter Sellner",
   title = "Human-Robot Teams for Large-Scale Assembly",
   booktitle = "Proceedings of the NASA Science Technology Conference 2007 (NSTC-07)",
   month = "May",
   year = "2007",
}

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