MOE: A System Infrastructure for Robotic Experiments

Cardone, Mariarosaria; Laroque, Christian; Sarkarati, Mehran; Nergaard, Kim; Steele, Paul T.; Martín, Sebastián

doi:10.1007/978-3-319-51941-8_2

Cited by 4 publications

(3 citation statements)

References 1 publication

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“…In the METERON SUPVIS-E and SUPVIS-M experiments, ESA investigated the use of supervisory robot command [12] for optimizing the workload balance between the robot and astronaut [13], while in the METERON SUPVIS Justin experiment, the focus shifted to treating the robot as a coworker of the astronaut [14] [15]. DLR's Rollin' Justin robot provided intelligent features such as autonomous object detection, reasoning, and action execution [16] [17].…”

Section: Related Workmentioning

confidence: 99%

Toward Multi User Knowledge Driven Teleoperation of a Robotic Team with Scalable Autonomy

Schmaus,

Batti,

Bauer

et al. 2023

2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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This paper proposes a knowledge-driven teleoperation framework that enables multiple operators to command a team of robots to execute complex tasks in an efficient and intuitive manner. The framework leverages a shared knowledge base that captures domain-specific information and procedural knowledge about the task at hand. This knowledge base is used by a hybrid planner to generate context-specifically relevant commands for supervised autonomy robot command as well as direct teleoperation modes. By filtering the available commands, the operators are guided in their decision-making towards efficient task completion. This paper further extends our knowledge driven approach to address the switching between multiple operators and robotic assets, with the aim to be able scale up human-robot team for space exploration. Overall, this work represents a step towards more intelligent and collaborative teleoperation systems. The described system will be used in the Surface Avatar ISS-to-ground experiments slated for July 2023.

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Section: Related Workmentioning

confidence: 99%

Toward Multi User Knowledge Driven Teleoperation of a Robotic Team with Scalable Autonomy

Schmaus,

Batti,

Bauer

et al. 2023

2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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“…The SUPVIS-E and SUPVIS-M experiments started the investigation of supervisory robot command in METERON by utilizing predefined task-level commands [22]. The astronauts used the METERON Operations Software Graphical User Interface (GUI) installed on a laptop computer to issue commands and monitor the autonomous execution during the ISS sessions [23]. The primary finding of the experiments was that task-level commanding of a remote robot is highly effective for task executing via a limited communication link.…”

Section: Related Workmentioning

confidence: 99%

Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

Schmaus

Leidner

Krüger

et al. 2020

IEEE Robot. Autom. Lett.

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The crewed exploration of Moon and Mars requires the construction and maintenance of infrastructure on the alien surfaces before a crew arrives. Robotic coworkers are envisioned to take over the physical labor required to set-up crew habitats, energy supplies, and return vehicles in the hazardous environment. Deploying these robots in such a remote location poses a challenge that requires autonomous robot capabilities in combination with effective Human Robot Interfaces (HRIs), which comply with the harsh conditions of deep space operations. An astronaut-robot teleoperation concept targeting these topics has been evaluated in DLR and ESA's METERON SUPVIS Justin experiment where astronauts on-board the International Space Station (ISS) commanded DLR's humanoid robot Rollin' Justin in a simulated Martian environment on Earth. This work extends on our previously presented approach to supervised autonomy. It examines the results of the two follow-up experiment sessions which investigated maintenance and assembly tasks in real-world scenarios. We discuss the use of our system in real space-toground deployment and analyze key performance metrics of the HRI and the feedback given by the astronauts.

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“…During the experiments, astronauts on board the ISS selected commands and monitored the telemetry of the planetary rovers transmitted via the Delay Tolerant Network (DTN), allowing for highbandwidth transmissions under variable communication delay [22]. The astronauts used laptop computers running the Meteron Operations Software (MOPS) to gain situational awareness in the remote environment, plan command sequences, issue motion-and task-level commands, and supervise the autonomous command execution by the surface robot during the ISS experiment sessions [23]. During the experiments, the system was used to command ESA's Eurobot to perform object manipulation tasks and to command ESA's Bridget rover to perform an cave exploration mission.…”

Section: Related Workmentioning

confidence: 99%

Continued Advances in Supervised Autonomy User Interface Design for METERON SUPVIS Justin

Schmaus

Leidner

Bayer

et al. 2019

2019 IEEE Aerospace Conference

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The exploration of the universe remains a challenging endeavor, constantly pushing the limits of technology. Of special interest is the investigation of the other planets of our solar system such as Mars, which has been examined by various teleoperated and (semi-) autonomous satellites and landers. But an important milestone that is needed for a deeper understanding of the planet is still missing: A crewed landing. In order to send humans to such a remote location, an infrastructure for the landing crew including an energy supply, a habitat, and a return vehicle needs to be provided on the surface of the planet. The construction and maintenance of these structures is envisioned to be done by semiautonomous robots that are commanded from orbiting spacecrafts.

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MOE: A System Infrastructure for Robotic Experiments

Cited by 4 publications

References 1 publication

Toward Multi User Knowledge Driven Teleoperation of a Robotic Team with Scalable Autonomy

Toward Multi User Knowledge Driven Teleoperation of a Robotic Team with Scalable Autonomy

Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

Continued Advances in Supervised Autonomy User Interface Design for METERON SUPVIS Justin

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