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Proceedings Paper

Perceptual basis for reactive teleoperation
Author(s): Young Soo Park; Thomas F. Ewing; James M. Boyle; Thomas J. Yule
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Paper Abstract

To improve task performance in partially structured environments, enhancements to teleoperation have been proposed by introducing autonomous behaviors. Such autonomy is implemented based on a reactive robotic architecture, where reactive motor agents that directly couple sensory inputs and motor actions become the building blocks. To this end, a perceptual basis for the motor agents is presented in this paper. The perceptual basis consists of perceptual agents that extract environmental information from a structured light vision system and provide action-oriented perception for the corresponding motor agents. Rather than performing general scene reconstruction, a perceptual agent directly provides the motion reference for the motor behavior. Various sensory mechanisms - sensor fission, fusion, and fashion - become basic building blocks of the perception process. Since perception is a process deeply intertwined with the motor actions, active perception may also incorporate motor behaviors as an integral perceptual process.

Paper Details

Date Published: 4 October 2001
PDF: 8 pages
Proc. SPIE 4564, Optomechatronic Systems II, (4 October 2001); doi: 10.1117/12.444080
Show Author Affiliations
Young Soo Park, Argonne National Lab. (United States)
Thomas F. Ewing, Argonne National Lab. (United States)
James M. Boyle, Argonne National Lab. (United States)
Thomas J. Yule, Argonne National Lab. (United States)

Published in SPIE Proceedings Vol. 4564:
Optomechatronic Systems II
Hyungsuck Cho, Editor(s)

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