DOI: 10.1007/978-3-540-68951-5_23 In book: Software Engineering for Experimental Robotics, pp.401-408
Networked Robotics [SG02, SG03] is a kind of Human-Robot Interaction [HRI04]; the human operator collaborates with the robot for the execution of difficult tasks for which the robot cannot achieve
a high level of autonomy due to the complexity of the task or the structure of the operating environment.
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"The discussion of the structures of those controllers and the way they operate requires an adequate formal language based on mathematics. There have been some attempts to formalize the subject in general (e.g.,123 ), however, the majority of the work has concentrated on software engineering approaches to robotics456 , especially with the focus on robot programming frameworks  (e.g.: RCCL , KALI [9, 10], PASRO [11, 12], RORC [13, 14], MRROC [13, 15], MRROC++ [16, 17], G en oM [18, 19], DCA , TCA , TDL , Generis , OROCOS [24, 25], CoolBOT [3, 26], ORCA [27, 28], Player293031). The contemporary robot system controllers are predominantly computer based. "
[Show abstract][Hide abstract]ABSTRACT: The paper deals with structuring robot control systems. The control system is decomposed into distinct agents. An agent, in general, is responsible for control of its effector, perception of the environment for the purpose of its effector control, and inter-agent communication. The behaviour of the agent is governed by its set of transition functions. The control system consists of two tiers – the upper tier is defined by the flow of information between the agents and the lower tier is defined by formal specification of each agent's behaviour (influence on the environment, gathering sensor readings, production and consumption of the information for/from the other agents). The paper presents one of the examples of utilization of this approach. The example concerns the multi-robot drawing copying system.
Full-text · Article · Mar 2010 · Bulletin of the Polish Academy of Sciences, Technical Sciences
[Show abstract][Hide abstract]ABSTRACT: Completely autonomous performance of a mobile robot with non-controlled and dynamic environments is not possible due to several reasons including environment uncertainty, sensor/software robustness, limited robotic abilities, ... But in assistant applications in which a human is always present, he can make up for the lack of robot autonomy by intervening when needed. This is usually used in cases where the environment is not directly accessible, or is too dangerous, or it is necessary to scale the force. This paper presents a system to make teleoperation of a team of mobile robots accessible to all users, novices and experts. So, a "human-robot integration" mechanism is needed to improve the robot autonomy. Thus, an easy-to-use user interface and an effective agent-based human-robot interaction method have been created.
[Show abstract][Hide abstract]ABSTRACT: From the very beginning, men have used tools to increase their manipulation ability. The development of tools for operating at a distance culminated in the development of teleoperation systems. Teleoperation means simply operating a device at a distance, so that it enables the capability to sense and to act in a remote location. The present paper has as main objective to develop a system to allow any user, independently if he knows the system or the instructions to operate a robot, can teleoperate with the team of robots to achieve a specific task goal, making transparent for that user the differences among the different robots of the team. Thus, an easy-to-use user interface and an effective agent-based human-robot interaction method to enable robust mobile robot teleoperation have been created.