The flight telerobotic servicer (FTS) will support assembly and maintenance activities for the US Space Station. The authors describe an approach to the functional architecture so that teleoperation, slated for beginning of the program, and autonomy, scheduled later in the program, can both be supported. The system is hierarchically organized, with task decomposition, world modeling, and sensory processing explicitly represented. Goals at each level of the hierarchy are decomposed spatially and temporally into simpler tasks, which become goals for lower levels. The spatial decomposition facilitates control and coordination of multiarm robots.


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    Title :

    An architecture to support teleoperation and autonomy


    Additional title:

    Systemarchitektur zur Unterstuetzung von Fernsteuerung und Autonomie


    Contributors:
    Lumia, R. (author) / Albus, J.S. (author)


    Publication date :

    1987


    Size :

    5 Seiten, 11 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Teleoperation and autonomy for space robotics

    Lumia, R. / Albus, J.S. | Tema Archive | 1988


    Ground Vehicle Control at NIST: from Teleoperation to Autonomy

    United States; National Aeronautics and Space Administration / United States; Air Force | British Library Conference Proceedings | 1993


    Ground vehicle control at NIST: From teleoperation to autonomy

    Murphy, Karl N. / Juberts, Maris / Legowik, Steven A. et al. | NTRS | 1994


    Ground Vehicle Control at NIST: From Teleoperation to Autonomy

    K. N. Murphy / M. Juberts / S. A. Legowik et al. | NTIS | 1994