• Engineering
  • Published 2005

RESULTS IN SLIDING AUTONOMY FOR MULTI-ROBOT SPATIAL ASSEMBLY

@inproceedings{Heger2005RESULTSIS,
  title={RESULTS IN SLIDING AUTONOMY FOR MULTI-ROBOT SPATIAL ASSEMBLY},
  author={Frederik W. Heger and Laura M. Hiatt and Brennan Sellner and Reid G. Simmons and Sanjiv Singh},
  year={2005}
}
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 contingencies. Our architecture provides a principled methodology for human involvement to optimize both task efficiency and robustness by… CONTINUE READING

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