The user interface is the central element of a telepresence robotic system and its visualization modalities greatly affect the operator's situation awareness, and thus its performance. Depending on the task at hand and the operator's preferences, going from ego-and exocentric viewpoints and improving the depth representation can provide better perspectives of the operation environment. Our system, which combines a 3D reconstruction of the environment using laser range finder readings with two video projection methods, allows the operator to easily switch from ego-to exocentric viewpoints. This paper presents the interface developed and demonstrates its capabilities by having 13 operators teleoperate a mobile robot in a navigation task.

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Intelligence has been an object of study for a long time. Different architectures try to capture and reproduce these aspects into artificial systems (or agents), but there is still no agreement on how to integrate them into a general framework. With this objective in mind, we propose an architectural methodology based on the idea of intentional configuration of behaviors. Behavior-producing modules are used as basic control components that are selected and modified dynamically according to the intentions of the agent. These intentions are influenced by the situation perceived, knowledge about the world, and internal variables that monitor the state of the agent. The architectural methodology preserves the emergence of functionality associated with the behavior-based paradigm in the more abstract levels involved in configuring the behaviors. Validation of this architecture is done using a simulated world for mobile robots, in which the agent must deal with various goals such as managing its energy and its well-being, finding targets, and acquiring knowledge about its environment. Fuzzy logic, a topologic map learning algorithm, and activation variables with a propagation mechanism are used to implement the architecture for this agent.