Project Title:

Intelligent Robot/Sensor Operations Planning Systems

05.06-2567
900409
Intelligent Robot/Sensor Operations Planning Systems

Abstract:

A telerobot/sensor planning system will be developed by combining mature vision-based
guidance technology, standardized robotic platform interfaces, and an interactive
robot planning system integrated into a graphical robotic visualization system. To
support advanced robotic servicing operated from the ground (through time delays
and bandwidth limitations), this technology will accommodate rapid servicer re-planning
and mission modification due to the variability of on-orbit tasks. An improved sensor/robot
programming environment will significantly extend the current ground-based technology
in robots. The approach begins with incorporating CAD-based computer vision into
a standardized robotic command and control structure (e.g. NASREM-like). Then standardized
simulation modules with equivalent function to the standardized robotic and sensor
processing subsystems will be implemented and used (in Phase II) by an AI planning
environment (and connect to a conventional graphics system). This effort should integrate
gracefully with other supervised telerobotic server testbed development work at JPL
(especially since the first task elements would demonstrate geometrical model-driven
vision components on a VME compatible platform, driving standard robots like JPL's
PUMAs.
This development could facilitate more dynamic utilization of robots in space, material
handling, hazardous materials, and manufacturing applications.
visualization, CAD-based robotics, CAD-based computer vision, object-oriented programming,
sensorized robotics, robotic planning