A Safeguarded Teleoperation Controller

This paper presents a control system for mobile robots. The controller was developed to satisfy the needs of a wide range of operator interfaces and teleoperation in unknown, unstructured environments. In particular, the controller supports varying degrees of cooperation between the operator and robot, from direct to supervisory control. The controller h as a modular architecture a nd i ncludes interprocess communications, localization, map building, safeguarding, sensor management, and speech synthesis. In this paper, we describe the design of the controller and discuss its use in several applications.

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