This paper describes current work on a cooperative tele-assistance system for semi-autonomous robots. This system combines a robot architecture for limited autonomous perceptual and motor control with a knowledge-based operator assistant which provides strategic selection and enhancement of relevant data. The design of the system is presented, together with a number of exception-handling scenarios that were constructed as a result of experiments wit.h act.ual sensor data collected from two mobile robots.


Computer Sciences


URL: http://digitalcommons.calpoly.edu/csse_fac/179