Remote Task-level Commanding of Centaur over Time Delay

摘要

Remote operation of robots on the lunar surface by ground controllers poses unique human‐robot interaction challenges due to time delay and constrained bandwidth. One strategy for addressing these challenges is to provide task‐level commanding of robots by a ground controller. Decision‐support tools are being developed at JSC for remote task‐level commanding over time‐delay. The approach is to provide ground procedures that guide a controller when executing task‐level command sequences and aid awareness of the state of command execution in the robot. This approach is being evaluated using the Centaur robot at JSC. The Centaur Central Commander provides a task‐level command interface that executes on the robot side of the delay. Decision support tools have been developed for a human Supervisor in the JSC Cockpit to use when interacting with the Centaur Central Commander. Commands to the Central Commander are defined as instructions in a procedure. Sequences of these instructions are grouped into procedures for the Cockpit Supervisor. When a Supervisor is ready to perform a task, a procedure is loaded into the decision support tool. From this tool, the Supervisor can view command sequences and dispatch individual commands to Centaur. Commands are queued for execution on the robot side of the delay. Reliable command sequences can be dispatched automatically upon approval by the Supervisor. The decision support tool provides the Supervisor with feedback about which commands are waiting for execution and which commands have finished. It also informs the Supervisor when a command fails to have its intended effect. Cockpit procedures are defined using the Procedure Representation Language (PRL) developed at JSC for mission operations. The decision support tool is based on a Procedure Sequencer and multi‐agent software developed for human‐robot interaction. In this paper the approach for remote task‐level commanding of robots is described and the results of the evaluation with the Centaur robot at JSC are discussed.