Long-Term Autonomy for Ground and Aquatic Robotics
Abstract
The aim of this program is to increase the impact and use of autonomous platforms and robotics by the US Navy and DoD by developingnew capabilities for long-term autonomy and supervisory control of underwater robots operating under uncertainty. The objectives are to significantly advance the state of the art in intelligent underwater robots operating in highly complex environments performingsurveillance, inspection, and maintenance tasks that rely on effective robot perception and manipulation capabilities both with andwithout a human diver present in the operating area. In this extension we will specifically focus on providing security in ports, preventing disasters, monitoring structural integrity. Challenges include impact of water dynamics on maneuvering, manipulation, perception, communications, human-robot interaction, and multi-robot cooperation To achieve our objectives, we will develop algorithms for learning navigation and manipulation of underwater objects that can adaptto new situations and conditions from experience, self-adaptation, and interactions. Communication between the vehicle and human supervisors is particularly challenging due the low bandwidths available with underwater communication. To close the loop with humans, a novel user interface will be developed with a model ofthe system that provides human supervisors with relevant information as appropriate for the scenario and predicted behavior of the system. The UI will be built to engender appropriate trust to avoid over-reliance or underutilization, especially for task-allocation methods for multi-robot teams.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Nov 09, 2024
- Source ID
- N000142412784
Entities
People
- Stefanie Tellex
Organizations
- Brown University
- Office of Naval Research
- United States Navy