| 1. |
- Seeman, Mattias, et al.
(författare)
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An autonomous spherical robot for security tasks
- 2006
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Ingår i: 2006 IEEE International Conference on Computational Intelligence for Homeland Security and Personal Safety. - 1424407443 ; , s. 51-55
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Konferensbidrag (refereegranskat)abstract
- The use of remotely operated robotic systems in security related applications is becoming increasingly popular However, the direct teleoperation interfaces commonly used today put a large amount of cognitive burden on the operators, thus seriously reducing the efficiency and reliability of these systems. We present an approach to alleviate this problem by exploiting both software and hardware autonomy. At the software level, we propose a variable autonomy control architecture that dynamically adapts the degree of autonomy of the robot in terms of control, perception, and interaction. At the hardware level, we rely on the intrinsic autonomy and robustness provided by the spherical morphology of our Ground-Bot robot. We also present a prototype system for facilitating the interaction between human operators and robots using our control architecture. This work is specifically aimed at increasing the effectiveness of the GroundBot robot for remote inspection tasks
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| 2. |
- Seeman, Mattias
(författare)
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Tele-Operated Remote Inspection with a Spherical Robot.
- 2009
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Robotic remote inspection, such as security surveillance or disaster area examination, can be efficient and at the same time protect humans from danger. However, conventional tele-operation interfaces impose a cognitive burden on the operator, who is typically not a robotics expert, and high-level information interpretation and decision-making is neglected. This work investigates the use of a spherical robot for remote inspection. Ball-shaped robots are inherently stable and robust, encapsulating all sensors and moving parts. They are, however, oscillation-prone and this causes some control and perception challenges.
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| 3. |
- Seeman, Mattias, et al.
(författare)
-
Virtual 360° panorama for remote inspection
- 2007
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Ingår i: IEEE international workshop on safety, security and rescue robotics, SSRR 2007. - New York : IEEE. - 9781424415694 ; , s. 1-5
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Konferensbidrag (refereegranskat)abstract
- The use of remotely operated robotic systems in security related applications is becoming increasingly popular. However, the direct teleoperation interfaces commonly used today put a large amount of cognitive burden on the operators, thus seriously reducing the efficiency and reliability of these systems. In the context of an adjustable autonomy control architecture meant to relieve operators from unnecessary low-level tasks, we present an user interface technique for 360° virtual panorama video as a perception aid to increase the situation awareness in tele-operation tasks, and as a block in the overall adjustable autonomy control architecture. At the hardware level, we rely on the intrinsic autonomy and robustness provided by the spherical morphology of our GroundBot robot. The work presented here is a step towards the overall goal of increasing the effectiveness of the GroundBot robot for remote inspection tasks.
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