Tele-Robots With Shared Autonomy: Tele-Presence for High Level Operability

Abstract

The aim is to improve the operability of an advanced demonstration platform incorporating reflexive teleoperated 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.