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Abstract

This paper describes a multi-robot science exploration software architecture and system called the Telesupervised Adaptive Ocean Sensor Fleet (TAOSF). TAOSF supervises and coordinates a group of robotic boats, the OASIS platforms, to enable in situ study of phenomena in the ocean/atmosphere interface, as well as on the ocean surface and sub-surface. The OASIS platforms are extended-deployment autonomous ocean surface vessels, whose development is funded separately by the National Oceanic and Atmospheric Administration (NOAA). TAOSF allows a human operator to effectively supervise and coordinate multiple robotic assets using a multi-level autonomy control architecture, where the operating mode of the vehicles ranges from autonomous control to teleoperated human control. TAOSF increases data-gathering effectiveness and science return while reducing demands on scientists for robotic asset tasking, control, and monitoring. The first field application chosen for TAOSF is the characterization of Harmful Algal Blooms (HABs). We discuss the overall TAOSF architecture, describe field tests conducted under controlled conditions using rhodamine dye as a HAB simulant, present initial results from these tests, and outline the next steps in the development of TAOSF.

Keywords

Telesupervision, telepresence, teleoperation, multi-level autonomy, semi-autonomous telerobotics, robot teams, Harmful Algal Blooms, HABs

Notes

Associated Lab(s) / Group(s): Tele-Supervised Autonomous Robotics

Associated Project(s): Telesupervised Adaptive Ocean Sensor Fleet

Text Reference

Gregg Podnar, John M. Dolan, Alberto Elfes, Stephen B. Stancliff, Ellie Lin Ratliff, Jeff Hosler, T. Ames, John Moisan, Tiffany Moisan, J. Higinbotham, and E.A. Kulczycki, "Operation of Robotic Science Boats Using the Telesupervised Adaptive Ocean Sensor Fleet System," Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA '08), May, 2008.

BibTeX Reference

@inproceedings{Podnar_2008_6052,
   author = "Gregg Podnar and John M Dolan and Alberto Elfes and Stephen B Stancliff and Ellie Lin Ratliff and Jeff Hosler and T. Ames and John Moisan and Tiffany Moisan and J. Higinbotham and E.A. Kulczycki",
   title = "Operation of Robotic Science Boats Using the Telesupervised Adaptive Ocean Sensor Fleet System",
   booktitle = "Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA '08)",
   month = "May",
   year = "2008",
}

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