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

doi:10.1109/ROBOT.2001.933064

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

Computer Science and Engineering

Research output: Contribution to journal › Article › peer-review

15 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 language	English (US)
Pages (from-to)	2917-2922
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
DOIs	https://doi.org/10.1109/ROBOT.2001.933064
State	Published - 2001

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Rybski, P. E., Burt, I., Dahlin, T., Gini, M. L., Hougen, D. F., Krantz, D. G., Nageotte, F., Papanikolopoulos, N. P., & Stoeter, S. A. (2001). System architecture for versatile autonomous and teleoperated control of multiple miniature robots. Proceedings - IEEE International Conference on Robotics and Automation, 3, 2917-2922. https://doi.org/10.1109/ROBOT.2001.933064

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

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