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Robot Intelligence Kernel

Human - Robot Interaction

The INL robot intelligence kernel (including hardware, software, and sensors) supports changing levels of operator involvement. The operator can be fully in control, or the robot can be instructed to assume varying degrees of autonomy. This includes five distinct modes of operation from shared control where the robot selects its own route and the operator essentially serves as a backseat driver, to full autonomy where the human gives high-level tasking such as "Search this building for humans!"

The diagram below shows the operator and robot responsibilities for each autonomy mode.

Autonomy Mode Defines Task Goals Supervises Direction Motovates Motion Prevents Collision
Teleoperation Mode Operator Operator Operator Operator
Safe Mode Operator Operator Operator Robot
Shared Mode Operator Operator Robot Robot
Collaborative Tasking Mode Operator Robot Robot Robot
Autonomous Mode Robot Robot Robot Robot

The diagram below shows how the various behaviors that are used to support tasking in different autonomy modes.

(See full-size image)


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