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In this paper, we describe how an autonomy engine can work together with an operator to perform human-machine collaborative inspection of offshore structures using shared autonomy. The approach is driven by the robot's autonomy, which can make suggestions of what the autonomy engine considers to be desirable actions to fulfil a mission. The operator can at any time inject its own action, choose from the robot's generated suggestions or allow the robot to continue fully autonomously until the next user input. The approach removes the need for constant monitoring and can enable a single operator to control multiple vehicles at once, as the robot will ensure safe and collision-free operation while performing actions. The approach has been tested in various underwater environments with successful results, including offshore wind turbines.

This paper describes the approach of using roslibjs in combination with rosbridge to create a custom web interface for remote telepresence. Remote connection from the web server to the robot is established through Husarnet to allow access to multiple robots simultaneously with low latency without the need to be in the same network. The interface enables viewing a 360 image that can be scrolled through, multiple views of the virtual visualisation of data, sending waypoints to the autonomous pilot, as well as basic controls of a manipulator attached to the Autonomous Underwater Vehicle (AUV). This approach has been tested with multiple users from around the world successfully operating an AUV remotely.