Authors:
Thomas Geerinck
;
Valentin Enescu
;
Alexandru Salomie
;
Sid Ahmed Berrabah
;
Kenny Cauwerts
and
Hichem Sahli
Affiliation:
Vrije Universiteit Brussel, Belgium
Keyword(s):
tele-robotics, tele-operation, shared autonomy, tele-presence.
Related
Ontology
Subjects/Areas/Topics:
Human Augmentation and Shared Control
;
Human-Robots Interfaces
;
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robot Design, Development and Control
;
Robotics and Automation
;
Telerobotics and Teleoperation
Abstract:
The aim is to improve the operability of an advanced demonstration platform incorporating reflexive tele-operated control concepts developed on a mobile robot system. The robot is capable of autonomously navigating in
semi-structured environments. Reflexive tele-operation mode employs the robot extensive onboard sensor suite to prevent collisions with obstacles when the human operator assumes control and remotely drives the robot to investigate a situation of interest. For the shared autonomy aspect, four levels of autonomy have been implemented: tele-operation, safe mode, shared autonomy and autonomous mode. The operability level is enhanced by improving significantly the situational awareness of the operator by using an inertial tracker in combination with a head mounted display creating a certain feeling of presence. As such, the system permits precision observation and pinpoint data collection without subjecting the user to a possibly hazardous remote environment.