Autonomous, teleoperated, and shared control of robot systems

This paper illustrates how different modes of operation such as bilateral teleoperation, autonomous control, and shared control can be described and implemented using combinations of modules in the SMART robot control architecture. Telerobotics modes are characterized by different "grids" of SMART icons, where each icon represents a portion of run-time code that implements a passive control law. By placing strict requirements on the module's input-output behavior and using scattering theory to develop a passive sampling technique, a flexible, expansible telerobot architecture is achieved. An automatic code generation tool for generating SMART systems is also described.