NDLI: A comparative study of teleoperated and autonomous task completion for sample return rover missions

Content Provider	IEEE Xplore Digital Library
Author	Dimitrov, V. Padir, T.
Copyright Year	2014
Description	Author affiliation: Robot. Eng., Worcester Polytech. Inst., Worcester, MA, USA (Dimitrov, V.; Padir, T.)
Abstract	This research is aimed at identifying a minimal set of shared control behaviors that would optimize the execution of high-level tasks in terms of robot capabilities and operator engagement in sample return missions. Previous robotic missions to the Moon and Mars, such as Mars Science Laboratory, have relied on supervised autonomy and teleoperation with latency mission scenarios. While this has proven to be an effective approach especially with regard to minimizing mission risks, its scalability to multi-rover systems controlled by a single-operator poses challenges as meticulous planning on daily mission objectives is required and mission success relies heavily on robust, low-latency communication channels. As missions evolve to include multiple robotic platforms exploring celestial bodies farther than Mars, a paradigm shift in mission design approach is required. While completely autonomous exploration rovers may someday be commonly utilized, we aim to show that selectively adding high-level shared control behaviors to execute a sample return mission can significantly improve efficiency at an acceptable addition of risk and complexity.
Sponsorship	IEEE Aerosp. Electron. Syst. Soc.
Starting Page	1
Ending Page	6
File Size	1159056
Page Count	6
File Format	PDF
e-ISBN	9781479916221
DOI	10.1109/AERO.2014.6836304
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-03-01
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Manipulators Robot kinematics NASA Robot vision systems
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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