A SHared Autonomy for Remote Collaboration (SHARC) framework enables distant human users to collaboratively plan and control manipulation tasks using interfaces that provide a contextual and interactive 3D scene understanding. A 3D module is configured to generate a three-dimensional workspace image of a robot workspace utilizing at least one imaging sensor directed at the site. A local server communicates directly with the robot and has at least one local user interface. At least one remote server communicates wirelessly with the local server and with one or more remote user interfaces. A robot autonomy module receives interface inputs from the local user interface and the remote user interfaces, develops an action plan utilizing the interface inputs, and coordinates with the local server to provide instructions to the robot.
Shared Autonomy for Remote Collaboration
2024-09-12
Patent
Electronic Resource
English
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