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DOE OSTI · 1078140

System and method for seamless task-directed autonomy for robots

Nielsen, Curtis·Bruemmer, David·Few, Douglas·Walton, Miles
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Abstract

Systems, methods, and user interfaces are used for controlling a robot. An environment map and a robot designator are presented to a user. The user may place, move, and modify task designators on the environment map. The task designators indicate a position in the environment map and indicate a task for the robot to achieve. A control intermediary links task designators with robot instructions issued to the robot. The control intermediary analyzes a relative position between the task designators and the robot. The control intermediary uses the analysis to determine a task-oriented autonomy level for the robot and communicates target achievement information to the robot. The target achievement information may include instructions for directly guiding the robot if the task-oriented autonomy level indicates low robot initiative and may include instructions for directing the robot to determine a robot plan for achieving the task if the task-oriented autonomy level indicates high robot initiative.

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Nielsen, Curtis, Bruemmer, David, Few, Douglas, Walton, Miles. 2012-09-18. System and method for seamless task-directed autonomy for robots. https://www.osti.gov/biblio/1078140

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