Multi-Level Autonomy Robot Telesupervision

Gregg Podnar, John M. Dolan, Alberto Elfes, and Marcel Bergerman
Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA '08), May, 2008.


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Abstract
This paper focuses on the development of an advanced telesupervision system architecture that supports a highly efficient approach to human-robot interaction while allowing heterogeneous robotic assets to be deployed. The described multi-level framework not only supports human monitoring and control of existing state-of-the-art autonomous agents, but also allows new autonomous agents to be incorporated at each level as they become available.

Our philosophy of maximizing the efficiency and safety of humans through telesupervision of autonomous robotic systems is applicable in extreme environments on Earth, and across space including telesupervising Lunar and Martian robots when humans are nearby.

We describe two applications of our Multilevel-Autonomy Robot Telesupervision Architecture: for planetary mineral prospecting using multiple semi-autonomous rovers conducted under a past project funded by the NASA Exploration Systems Mission Directorate; and for Harmful Algal Bloom detection and characterization by multiple semi- autonomous ocean vessels conducted under an ongoing project funded by the NASA Earth Science Technology Office.


Keywords
Telesupervision, telepresence, teleoperation, multi-level

Notes
Associated Lab(s) / Group(s): Tele-Supervised Autonomous Robotics
Associated Project(s): Wide Area Prospecting Using Supervised Autonomous Robots, Telesupervised Adaptive Ocean Sensor Fleet, Explosive Ordnance Disposal Robot - Very Low Cost

Text Reference
Gregg Podnar, John M. Dolan, Alberto Elfes, and Marcel Bergerman, "Multi-Level Autonomy Robot Telesupervision," Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA '08), May, 2008.

BibTeX Reference
@inproceedings{Podnar_2008_6051,
   author = "Gregg Podnar and John M Dolan and Alberto Elfes and Marcel Bergerman",
   title = "Multi-Level Autonomy Robot Telesupervision",
   booktitle = "Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA '08)",
   month = "May",
   year = "2008",
}