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Proceedings Paper

Supervised autonomy for robotic inspection
Author(s): Kevin L. Moore; Johnny Mollerup Larsen; Martin Stampe Qvistgaard
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Paper Abstract

Experience deploying robots for security and inspection tasks shows that often the activity of "driving" the robot interferes with the activity of observing the sensor data (often visual) collected by the robot. It has been suggested that the supervised autonomy paradigm can improve system performance. In this approach, some aspects of the robot's actions are automated, particularly motion control, freeing the operator to focus on the inspection task. In this paper we describe the laboratory-level proof-of-concept development and implementation of a semi-autonomous mode for the ODIS robot, whereby, under the direction and supervision of an operator, the robot can self-navigate in a limited structured environment while sending back video images for operator inspection. Laboratory results show the feasibility of the approach.

Paper Details

Date Published: 2 May 2007
PDF: 11 pages
Proc. SPIE 6561, Unmanned Systems Technology IX, 65610P (2 May 2007); doi: 10.1117/12.718806
Show Author Affiliations
Kevin L. Moore, Colorado School of Mines (United States)
Johnny Mollerup Larsen, Aallborg Univ. (Denmark)
Martin Stampe Qvistgaard, Aallborg Univ. (Denmark)

Published in SPIE Proceedings Vol. 6561:
Unmanned Systems Technology IX
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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