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Summary: Cooperative Material Handling by Human and Robotic Agents:
Module Development and System Synthesis
J.A. Adams, R. Bajcsy, J. Kosecka, V. Kumar, R. Mandelbaum,
M. Mintz, R. Paul, C. Wang, Y. Yamamoto, X. Yun.
GRASP Laboratory
University of Pennsylvania, Philadelphia
1 Introduction
In this paper we present a collaborative e ort to
design and implement a cooperative material handling
system by a small team of human and robotic agents
in an unstructured indoor environment. Our approach
makes fundamental use of the human agents' expertise
for aspects of task planning, task monitoring,and error
recovery. Our system is neither fully autonomous nor
fully teleoperated. It is designed to make e ective use
of the human's abilities within the present state of the
art of autonomous systems. Our robotic agents refer
to systems which are each equipped with at least one
sensing modalityand which possess some capabilityfor
self-orientation and/or mobility. Our robotic agents
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