Modeling instructible robots for waste disposal applications

Abstract

The storage of high-level radioactive waste in centralized interim storage facilities (CIS) creates a unique and challenging environment for developing and deploying innovative robotic technologies. Limited accessibility and resources as well as difficulties in predicting the behavior of some facility components call for enhanced collaboration between humans and robots and improved capacity for robotic instruction in nearly linguistic terms. We present a neurofuzzy approach for instructing robots operating in such environments and propose a functional architecture for groups of collaborating instructible robots.