Robot Autonomy

Robot Autonomy for Surgery

Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of automation in surgery, which include increasing precision of care due to sub-millimeter robot control, real-time utilization of biosignals for interventional care, improvements to surgical efficiency and execution, a...

16 - 662 Robot Autonomy Lecture

Grasp planning and arm planning are the two main aspects of manipulation planning. Arm planning is computationally the most expensive component because planning takes place in a high-dimension configuration space (usually manipulators have many DOF) which is difficult and requires high processing capability for reasonable intervening wait times. Lectures 2, 4 and 5 discuss the three steps of gr...

Multi-Level Autonomy Robot Telesupervision

This paper focuses on the development of an advanced telesupervision system architecture that supports a highly efficient approach to human-robot interaction while allowing heterogeneous robotic assets to be deployed. The described multi-level framework not only supports human monitoring and control of existing state-of-the-art autonomous agents, but also allows new autonomous agents to be inco...

Mobile Robot Autonomy via Hierarchical

| Realization of autonomous behavior in mobile robots, using fuzzy logic control, requires formulation of rules which are collectively responsible for necessary levels of intelligence. This collection of rules can be conveniently decomposed and eeciently implemented as a hierarchy of fuzzy-behaviors. This paper describes how this can be done using a behavior-based architecture. The approach is ...

Achieving Robot Autonomy [Conference paper]