Collaborative Research: Teleautonomy in Networked Robotic Systems

协作研究：网络机器人系统中的远程自治

• 批准号: 0233314
• 负责人: Mark Spong
• 金额: $ 17.5万
• 依托单位: University of Illinois at Urbana-Champaign
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2002
• 资助国家: 美国
• 起止时间: 2002-09-15 至 2005-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0233314&HistoricalAwards=false
• 关键词: Collaborative; Research; Teleautonomy; Networked; Robotic

This project will address the interplay among various robotic control and networking problems focusing on the issue of teleautonomy. The research addresses both the problems of remote assembly with minimal human intervention and direct teleoperation. Both (semi-)autonomous and teleoperated systems as described herein will be important to realize the goal of assembling and operating Space Solar Power (SSP) systems. For systems in earth orbit and for human coordination of multiple networked robotic systems, direct teleoperation is a viable and attractive option, while greater autonomy is crucial for more remote assembly systems, such as lunar based systems where longer time delays make direct teleoperation difficult. A significant level of autonomy, i.e. local intelligence, will also be required due to the possibly unreliable communication networks over which these systems will be controlled.The present research seeks to integrate robotic control algorithms with communication networking research, along with issues associated with projecting and magnifying human capabilities to facilitate assembly in space structures. The technical issues include bilateral teleoperation, the reliability of the communications links, and the coordination of complex assembly tasks. Bilateral teleoperation will be studied using passivity-based nonlinear control along with logic-based switching control. The reliability of the communication links will be studied to mitigate the effects of unknown and time-varying delays and to incorporate recent ideas from networked control systems (NCS). Finally the issue of coordination will be studied using concepts from statistical learning theory that borrow and generalize ideas from Internet protocols.More broadly, this research will have important applications beyond teleautonomous robotic systems. We expect to contribute to the growing area of networked control systems, to incorporate our research in areas such as control in hazardous and remote environments, surveillance, search and rescue robots, autonomous vehicles and autonomous locomotion systems, haptic devices, remote construction, and remote surgery.

该项目将解决各种机器人控制和联网问题之间的相互作用，重点是远程自主权问题。 该研究解决了远程装配与最小的人工干预和直接遥操作的问题。 如本文所述的（半）自主和远程操作系统对于实现组装和操作空间太阳能（SSP）系统的目标将是重要的。对于地球轨道上的系统和多个联网机器人系统的人类协调，直接遥操作是一个可行且有吸引力的选择，而更大的自主性对于更远程的装配系统至关重要，例如月球系统，其中较长的时间延迟使直接遥操作变得困难。 一个重要的自治水平，即本地智能，也将需要由于可能不可靠的通信网络，这些系统将controlled.The本研究旨在整合机器人控制算法与通信网络的研究，沿着与投影和放大人类的能力，以促进组装在空间结构相关的问题。 技术问题包括双边远程操作、通信链路的可靠性以及复杂装配任务的协调。 双边遥操作将使用基于无源性的非线性控制沿着与基于逻辑的切换控制进行研究。 通信链路的可靠性将被研究，以减轻未知和时变延迟的影响，并将最近的想法从网络控制系统（NCS）。 最后，协调的问题将研究使用统计学习理论的概念，借用和概括的想法从互联网protocols.More广泛的，这项研究将有重要的应用程序以外的远程自主机器人系统。 我们希望为不断增长的网络控制系统领域做出贡献，将我们的研究纳入危险和远程环境中的控制，监视，搜索和救援机器人，自动驾驶汽车和自动运动系统，触觉设备，远程施工和远程手术等领域。