Published in Proceedings of AIAA Conference on Intelligent Robots in Field, Factory, Service and Space, Volume 3251, January 1, 1994, pages 500-508.
NOTE: At the time of publication, the author Erika Rogers was not yet affiliated with Cal Poly.
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.