World Model Based Remote Control and Teleperception for Space and Ground Servicing Applications

C. Jacobus; H. Gallarda; M. Walker; D. Conrad; J. Borenstein; F. Quek

doi:10.1117/12.969808

1 March 1990 World Model Based Remote Control and Teleperception for Space and Ground Servicing Applications

C. Jacobus, H. Gallarda, M. Walker, D. Conrad, J. Borenstein, F. Quek

Proceedings Volume 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications; (1990) https://doi.org/10.1117/12.969808
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

Abstract

A World Modeling System for operating a remote robotic servicing system should provide an operator with the same degree of flexibility and feedback possible from teleoperators, but under a supervisory control constraint. Thus, a sophisticated software system must exist on both the remote servicer and the local platform. This system must provide simulations and offline programming of the remote servicer (and its environment) for the operator to compose new commands (and test them). It must provide communications to and from the remote platform (within bandwidth limitations). It must allow interaction at multiple levels of abstraction (for instance at the task level, the robotic path planning level, and the robot joint level), and it must provide sensors, sensor processing, and model matching capabilities required to direct remote autonomous operations (like tracking or grip point identification) and to keep the local simulated servicer environment up to date. This concept of a World Modeling System encompasses perception and control of robotic systems.

Citation Download Citation

C. Jacobus, H. Gallarda, M. Walker, D. Conrad, J. Borenstein, and F. Quek "World Model Based Remote Control and Teleperception for Space and Ground Servicing Applications", Proc. SPIE 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications, (1 March 1990); https://doi.org/10.1117/12.969808

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