Remote Operation with Supervised Autonomy (ROSA)

摘要

Remote Operation with Supervised Autonomy (ROSA) was a collaborative research and development project with the goal of developing a variable-autonomy architecture to support ground-based control of space-deployed robotic systems in dynamic workspace environments. The ROSA architecture was successfully demonstrated using two sample applications: a satellite-servicing scenario using a laboratory test-bed and MSS ground control using a high fidelity simulator. The project had two main thrusts: artificial intelligence techniques to enhance the local decision-making capability, and artificial vision to enrich the robot’s perception of the environment. This paper describes the ROSA concept of operation and architecture concentrating on the autonomy aspects and it describes the experimental results.