Robust sensor fusion for teleoperations Conference Paper uri icon

abstract

  • This paper presents the Sensor Fusion Effects architecture for telesystems (teleSFX). The goal of teleSFX is to reduce the amount of human supervisory control involved in execution, freeing the operator to handle multiple remote robots without sacrificing robustness. It can be used as a component of existing telesystem architectures such as NASREM, which have typically emphasized motor control rather than perception. The concepts of state-based sensor fusion and intelligent assistance form the foundations for robust sensor fusion at the remote. State-based fusion provides autonomous execution and monitors for sensing anomalies or failures. Intelligent assistance is used to minimize the operator's involvement in the exception handling process through generation and testing of hypotheses about the cause of the fusion failure and an interactive problem solving interface. Three experiments using data collected from five sensors mounted on a mobile robot were conducted which demonstrate the detection of sensing failures and the exception handling activities for a remote robot.

name of conference

  • [1993] IEEE International Conference on Robotics and Automation

published proceedings

  • [1993] Proceedings IEEE International Conference on Robotics and Automation

author list (cited authors)

  • Murphy, R. R.

citation count

  • 4

complete list of authors

  • Murphy, RR

publication date

  • January 1993