Investigating robot safety and robustness in an autonomous systems laboratory

The development of systems methods is intended to permit the integration of robot sensing and planning for semiautonomous and autonomous robotic operations. The approach involves the development of situated reasoning software to integrate planning and plan monitoring in real time. The planning system therefore selectively employs available sensors that the robot can use to track changes in the environment. An integrated system is described that incorporates 2D vision, task-level programming, and goal-directed reasoning in performing the repair and replacement of electrical components. A vision algorithm is mentioned that permits the detection of visual characteristics on some spacecraft components, and some code generators can provide code for moving and turning motions. The developments are of significant interest to the continued growth of useful robotics technologies.