Supervisory control of telerobots in unstructured environments

摘要

This paper presents a supervisory control concept for exploiting autonomous robot functionality in an unstructured environment. Through an effective man-machine dialogue, the operator uses human perceptual and planning abilities to assist the robot in acquiring a model of the environment. Once this structure is acquired, the operator instructs the robot on how to perform a task as a sequence of actions based on generic autonomous skills.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>