2 May 2007 Supervised autonomy for robotic inspection
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Abstract
Experience deploying robots for security and inspection tasks shows that often the activity of "driving" the robot interferes with the activity of observing the sensor data (often visual) collected by the robot. It has been suggested that the supervised autonomy paradigm can improve system performance. In this approach, some aspects of the robot's actions are automated, particularly motion control, freeing the operator to focus on the inspection task. In this paper we describe the laboratory-level proof-of-concept development and implementation of a semi-autonomous mode for the ODIS robot, whereby, under the direction and supervision of an operator, the robot can self-navigate in a limited structured environment while sending back video images for operator inspection. Laboratory results show the feasibility of the approach.
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Kevin L. Moore, Kevin L. Moore, Johnny Mollerup Larsen, Johnny Mollerup Larsen, Martin Stampe Qvistgaard, Martin Stampe Qvistgaard, } "Supervised autonomy for robotic inspection", Proc. SPIE 6561, Unmanned Systems Technology IX, 65610P (2 May 2007); doi: 10.1117/12.718806; https://doi.org/10.1117/12.718806
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