TELE-ROBOTS WITH SHARED AUTONOMY: TELE-PRESENCE FOR HIGH LEVEL OPERABILITY

Thomas Geerinck, Valentin Enescu, Alexandru Salomie, Sid Ahmed Berrabah, Kenny Cauwerts, Hichem Sahli

Abstract

The aim is to improve the operability of an advanced demonstration platform incorporating reflexive tele-operated 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.

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Paper Citation


in Harvard Style

Geerinck T., Enescu V., Salomie A., Ahmed Berrabah S., Cauwerts K. and Sahli H. (2005). TELE-ROBOTS WITH SHARED AUTONOMY: TELE-PRESENCE FOR HIGH LEVEL OPERABILITY . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 243-250. DOI: 10.5220/0001184302430250


in Bibtex Style

@conference{icinco05,
author={Thomas Geerinck and Valentin Enescu and Alexandru Salomie and Sid Ahmed Berrabah and Kenny Cauwerts and Hichem Sahli},
title={TELE-ROBOTS WITH SHARED AUTONOMY: TELE-PRESENCE FOR HIGH LEVEL OPERABILITY},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={243-250},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001184302430250},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - TELE-ROBOTS WITH SHARED AUTONOMY: TELE-PRESENCE FOR HIGH LEVEL OPERABILITY
SN - 972-8865-30-9
AU - Geerinck T.
AU - Enescu V.
AU - Salomie A.
AU - Ahmed Berrabah S.
AU - Cauwerts K.
AU - Sahli H.
PY - 2005
SP - 243
EP - 250
DO - 10.5220/0001184302430250