Science Operations Interfaces for Mars Surface Exploration

Norris, Jeffrey S.; Powell, Mark W.; Fox, Jason M.; Rabe, Kenneth; Shu, I-Hsiang

doi:10.1109/icsmc.2005.1571337

Cited by 12 publications

(3 citation statements)

References 3 publications

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“… 2) Semi-autonomy: the human operator intermittently controls robot actions where required and can parameterize higher-level actions that are executed autonomously by the robot (e.g., search-and-rescue, DARPA Robotics Challenge ( Johnson et al, 2015 )). 3) Teleprogramming: operators create programs defining actions and reactions to changes in the environment for the robot to execute over longer period of time (e.g., Mars rovers programmed every day for a full day of autonomy ( Norris et al, 2005 )). …”

Section: Related Workmentioning

confidence: 99%

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Task-Level Authoring for Remote Robot Teleoperation

et al. 2021

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Remote teleoperation of robots can broaden the reach of domain specialists across a wide range of industries such as home maintenance, health care, light manufacturing, and construction. However, current direct control methods are impractical, and existing tools for programming robot remotely have focused on users with significant robotic experience. Extending robot remote programming to end users, i.e., users who are experts in a domain but novices in robotics, requires tools that balance the rich features necessary for complex teleoperation tasks with ease of use. The primary challenge to usability is that novice users are unable to specify complete and robust task plans to allow a robot to perform duties autonomously, particularly in highly variable environments. Our solution is to allow operators to specify shorter sequences of high-level commands, which we call task-level authoring, to create periods of variable robot autonomy. This approach allows inexperienced users to create robot behaviors in uncertain environments by interleaving exploration, specification of behaviors, and execution as separate steps. End users are able to break down the specification of tasks and adapt to the current needs of the interaction and environments, combining the reactivity of direct control to asynchronous operation. In this paper, we describe a prototype system contextualized in light manufacturing and its empirical validation in a user study where 18 participants with some programming experience were able to perform a variety of complex telemanipulation tasks with little training. Our results show that our approach allowed users to create flexible periods of autonomy and solve rich manipulation tasks. Furthermore, participants significantly preferred our system over comparative more direct interfaces, demonstrating the potential of our approach for enabling end users to effectively perform remote robot programming.

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Section: Related Workmentioning

confidence: 99%

“…3) Teleprogramming: operators create programs defining actions and reactions to changes in the environment for the robot to execute over longer period of time (e.g., Mars rovers programmed every day for a full day of autonomy ( Norris et al, 2005 )).…”

Section: Related Workmentioning

confidence: 99%

Task-Level Authoring for Remote Robot Teleoperation

et al. 2021

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“…Recently the SAP tool was upgraded to a new version dubbed "Maestro" [4] that delivered shared targeting support which addresses two major shortcomings of the original tool's implementation: target reuse and version tracking.…”

Section: Temporal Vs Spatial Persistencementioning

confidence: 99%

Targeting and Localization for Mars Rover Operations

Powell

Crockett

Fox

et al. 2006

2006 IEEE International Conference on Information Reuse &Amp; Integration

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Abstract-In this work we discuss how the quality of localization knowledge impacts the remote operation of rovers on the surface of Mars. We look at the techniques of localization estimation used in the Mars Pathfinder and Mars Exploration Rover missions. We examine the motivation behind the modes of targeting for different types of activities, such as navigation, remote science, and in situ science. We discuss the virtues and shortcomings of existing approaches and new improvements in the latest operations tools used to support the Mars Exploration Rover missions and rover technology development tasks at the Jet Propulsion Laboratory. We conclude with future directions we plan to explore in improving the localization knowledge available for operations and more effective targeting of rovers and their instrument payloads.

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