System architecture for versatile autonomous and teleoperated control of multiple miniature robots

Paul E. Rybski, Ian Burt, Tom Dahlin, Maria L Gini, Dean F. Hougen, Donald G. Krantz, Florent Nageotte, Nikolaos P Papanikolopoulos, Sascha A. Stoeter

Research output: Contribution to journalArticlepeer-review

13 Scopus citations

Abstract

Using robots for surveillance and reconnaissance applications requires a versatile connection between the human operator and robotic hardware. Some application domains require a fully teleoperated system while others may benefit by giving robots more autonomy. This paper describes a robotic control architecture which merges both paradigms. The whole scheme is implemented using the miniature Scout robot and involves a suite of user interfaces that can be tailored to specific surveillance and reconnaissance missions. Hardware capabilities are presented and a visual servoing strategy, important for semi-autonomous Scout operation, is discussed.

Original languageEnglish (US)
Pages (from-to)2917-2922
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
DOIs
StatePublished - Jan 1 2001

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