Abstract

This paper presents a domain-independent architecture for facilitating visual problem solving between robots or softbots and humans. The architecture defines virtual and human agents in terms of their inherent cognitive and perceptual abilities, and their weak and strong knowledge sources. It introduces a third agent, an expert assistant called teleVIA, to mediate the flow of information, facilitate cooperation, filter and cache data, and generate the appropriate visual displays. The agent architecture addresses the technical issues of using an expert assistant to coordinate perception, thought, and action, manage sensing and perception, facilitate diagnosis, and to support the collaboration between people and agents in real-time. A proof-of-concept prototype for teleoperation has been developed based on sensor data scenarios extracted from two different mobile robots. The focus of the paper is on details of the system design, which are presented with examples from the prototype implementation.

Disciplines

Computer Sciences

 

URL: http://digitalcommons.calpoly.edu/csse_fac/190