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Title: System and method for seamless task-directed autonomy for robots

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.

Inventors:
; ; ;
Issue Date:
Research Org.:
Idaho National Lab. (INL), Idaho Falls, ID (United States)
Sponsoring Org.:
USDOE
OSTI Identifier:
1078140
Patent Number(s):
8271132
Application Number:
12/048,110
Assignee:
Battelle Energy Alliance, LLC
Patent Classifications (CPCs):
G - PHYSICS G05 - CONTROLLING G05B - CONTROL OR REGULATING SYSTEMS IN GENERAL
B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS
DOE Contract Number:  
AC07-05ID14517
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING

Citation Formats

Nielsen, Curtis, Bruemmer, David, Few, Douglas, and Walton, Miles. System and method for seamless task-directed autonomy for robots. United States: N. p., 2012. Web.
Nielsen, Curtis, Bruemmer, David, Few, Douglas, & Walton, Miles. System and method for seamless task-directed autonomy for robots. United States.
Nielsen, Curtis, Bruemmer, David, Few, Douglas, and Walton, Miles. Tue . "System and method for seamless task-directed autonomy for robots". United States. https://www.osti.gov/servlets/purl/1078140.
@article{osti_1078140,
title = {System and method for seamless task-directed autonomy for robots},
author = {Nielsen, Curtis and Bruemmer, David and Few, Douglas and Walton, Miles},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2012},
month = {9}
}

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