An Architecture To Support Autonomy, Teleoperation, And Shared Control

Abstract

Described is an approach to the functional architecture of a telerobot so that autonomy, teleoperation, and shared control can all be supported. The system is hierarchically organized where task decomposition, world modeling, and sensory processing are explicitly represented. Goals at each level of the hierarchy are decomposed spatially and temporally into simpler tasks which become goals for lower levels. The spatial decomposition facilitates control and coordination of multi-arm robots. A description of the lowest level, the Servo Level, is presented, along with the operator control interface at that level.