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Recent research in human-robot interaction has investigated the concept of Sliding, or Adjustable, Autonomy, a mode of operation bridging the gap between explicit teleoperation and complete robot autonomy. This work has largely been in single-agent domains – involving only one human and one robot – and has not examined the issues that arise in multi-agent(More)
We have developed a software architecture for teams of robots and humans to jointly perform tightly coordinated tasks, such as assembly of structures in orbit or on planetary surfaces. While we envision that robots will autonomously perform such work in the future, the state of the art falls short of the capabilities necessary to handle all possible(More)
— Autonomous systems are efficient but often unreliable. In domains where reliability is paramount, efficiency is sacrificed by putting an operator in control via teleoperation. We are investigating a mode of shared control called " Sliding Autonomy " that combines the efficiency of autonomy and the reliability of human control in the performance of complex(More)
We present the design and gait generation for an experimental ROLLERBLADER. The ROLLERBLADER is a robot with a central platform mounted on omnidirectional casters and two 3 degree-of-freedom legs. A passive rollerblading wheel is attached to the end of each leg. The wheels give rise to nonholonomic constraints acting on the robot. The legs can be picked up(More)
— Construction and assembly are complex and arduous tasks, especially when performed in hazardous environments such as in orbit, on the Moon, or on Mars. Effective assembly of structures in such environments, where human labor is expensive and scarce, can be facilitated by the use of heterogeneous robotic teams. Over the past five years, we have developed(More)
In the future, teams of robots will construct outposts on Mars and orbital structures in space. Such tasks will require assembly of a large number of components into structures. Automatic generation of assembly sequences is a difficult and well-studied problem in structured factory environments that are specifically engineered for the assembly task at hand,(More)
Assembly is a task at which robots excel, but only as long as they operate in well-controlled environments such as factories or assembly lines. This thesis presents a comprehensive planning and execution framework that enables mobile manipulator robots to overcome this limitation and assemble large structures in physically challenging environments. In order(More)
Enabling mobile robots to assemble large structures in constrained environments requires planning systems that are both capable of dealing with high complexity and can provide robust execution in the face of run-time failures. We achieve execution robustness through exception handling capabilities that are seamlessly integrated throughout the planning(More)
The capability to assemble structures is fundamental to the use of robotics in precursor missions in orbit and on planetary surfaces. We have performed autonomous assembly in neutral buoyancy of elements of a space truss whose mating components require positioning tolerances of the same order of magnitude as the noise in the sensor systems used for the(More)