Future planetary exploration will involve both humans and robots. Understanding and improving their interaction is a main focus of research in the Intelligent Systems Branch at NASA's Johnson Space Center. By teaming intelligent robots with astronauts on surface extra-vehicular activities (EVAs), safety and productivity can be improved. The EVA Robotic Assistant (ERA) project was established to study the issues of human-robot teams, to develop a testbed robot to assist space-suited humans in exploration tasks, and to experimentally determine the effectiveness of an EVA assistant robot. A companion paper discusses the ERA project in general, its history starting with ASRO (Astronaut-Rover project), and the results of recent field tests in Arizona. This paper focuses on one aspect of the research, robot tracking, in greater detail: the software architecture and algorithms. The ERA robot is capable of moving towards and/or continuously following mobile or stationary targets or sequences of targets. The contributions made by this research include how the low-level pose data is assembled, normalized and communicated, how the tracking algorithm was generalized and implemented, and qualitative performance reports from recent field tests.


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    Titel :

    Robot Tracking of Human Subjects in Field Environments


    Beteiligte:
    J. Graham (Autor:in) / K. Shillcutt (Autor:in)

    Erscheinungsdatum :

    2003


    Format / Umfang :

    7 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Robot Tracking of Human Subjects in Field Environments

    Graham, Jeffrey / Shillcutt, Kimberly | NTRS | 2003


    Robot navigation in human environments

    Osswald, Stefan / Rheinische Friedrich-Wilhelms-Universität Bonn | TIBKAT | 2019


    Tracking Human Motion in Real-World Environments

    Hausamann, Peter | TIBKAT | 2022

    Freier Zugriff


    Tracking system for moving subjects

    Mogavero, L. N. / Johnsen, E. G. / Evans, J. M., Jr. et al. | NTRS | 1976