Using robots for surveillance and reconnaissance applications requires a versatile connection between the human operator and robotic hardware. Some application domains require a fully teleoperated system while others may benefit by giving robots more autonomy. This paper describes a robotic control architecture which merges both paradigms. The whole scheme is implemented using the miniature Scout robot and involves a suite of user interfaces that can be tailored to specific surveillance and reconnaissance missions. Hardware capabilities are presented and a visual servoing strategy, important for semi-autonomous Scout operation, is discussed.
|Original language||English (US)|
|Number of pages||6|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|State||Published - Jan 1 2001|