Translator Disclaimer
30 September 2003 Levels of autonomy control approach for mobile robots
Author Affiliations +
Increasingly mobile robots are finding applications in the military, mining, nuclear and agriculture industries. These fields require a robot capable of operating in a highly unstructured and changing environment. Current autonomous control techniques are not robust enough to allow successful operation at all times in these environments. Teleoperation can help with many tasks but causes operator fatigue and negates much of the economic advantages of using robots by requiring one person per robot. This paper introduces a control system for mobile robots based on the concept of levels of autonomy. Levels of autonomy recognizes that control can be shared between the operator and robot in a continuous fashion from teleoperation to full autonomy. By sharing control, the robot can benefit from the operator's knowledge of the world to help extricate it from difficult situations. The robot can operate as autonomously as the situation allows, reducing operator fatigue and increasing the economic benefit by allowing a single operator to control multiple robots simultaneously. This paper presents a levels of autonomy control system developed for use in exploration or reconnaissance tasks.
© (2003) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Stewart J. Moorehead "Levels of autonomy control approach for mobile robots", Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003);


The TACOM-USU intelligent mobility program
Proceedings of SPIE (September 02 2004)
Underground mining and construction robotics
Proceedings of SPIE (February 14 1992)
Distributed robotic mapping of extreme environments
Proceedings of SPIE (March 02 2001)
Adaptive mobility for rescue robots
Proceedings of SPIE (September 22 2003)

Back to Top