Publications

A telerobotic system demonstration was developed for the Department of Energy`s Accident Response group to highlight the applications of telerobotic vehicles to accident site inspection. The proof-of- principle system employs two mobile robots, Dixie and RAYBOT, to inspect a simulated accident site. Both robots are controlled serially from a single driving station, allowing an operator to take advantage of having multiple robots at the scene. The telerobotic system is described and some of the advantages of having more than one robot present are discussed. Future plans for the system are also presented.

A hierarchical control architecture for telerobotic vehicles intended to yield a modular, flexible, and easily expanded control system is presented. This architecture is proposed for applications where simple teleoperation is required but where additional capabilities might be quickly added without major changes to the control system. Similarities to the NASREM architecture are noted. Results are given from hardware implementation of the control system on a telerobotic vehicle, Raybot, at Sandia National Laboratories.