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

• Published in: Proceedings - IEEE International Conference on Robotics and Automation Vol. 3; pp. 2917 - 2922 vol.3
• Main Authors: Rybski, P.E., Burt, I., Dahlin, T., Gini, M., Hougen, D.F., Krantz, D.G., Nageotte, F., Papanikolopoulos, N., Stoeter, S.A.
• Format: Conference Proceeding Journal Article
• Language: English
• Published: IEEE 2001
• Subjects: Communication system control; Control systems; Hardware; Humans; Mobile robots; Reconnaissance; Robot control; Robot kinematics; Robot sensing systems; Surveillance
• ISBN: 0780365763; 9780780365766
• ISSN: 1050-4729; 2577-087X
• DOI: 10.1109/ROBOT.2001.933064

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.