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Coordinated Assembly Teams

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Coordinated Assembly Teams

Full autonomy achieves a task without human interaction. The other extreme is teleoperation under direct human control. Sliding autonomy is a spectrum of interaction among robots and humans that exploits the best of each to maximize reliability and capability. Our flexible architecture enables robot-human teams to perform tightly coupled tasks such as assembly of structures. We enable humans and robots to cooperate in a single framework. To improve the ability to handle unexpected events and failures, we employ sliding autonomy to remotely assist robots. The system models users to learn when and how best to ask for help. The system can perform task as fast as an autonomous system with the reliability of a dedicated teleoperator by leveraging the capabilities of the robots and humans.

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