Planetary robots which perform assembly tasks to prepare for human exploration must be able to operate in unmodeled environments and in unanticipated situations. We are working on a system of mobile robots that perform precise coordinated maneuvers for transporting assembly materials. We are also developing an interface that allows an operator to step in at various levels of autonomy, providing the system with both the efficiency of an autonomous system and the reliability of a human operator.
PhD Thesis, Tech. Report, CMU-RI-TR-10-34, Robotics Institute, Carnegie Mellon University, August, 2010