Planning and reasoning in the JPL telerobot testbed
Stephen F. Peters, David S. Mittman, Carol Collins, Jacquie S. O'Meara, Mark J. Rokey · NASA Technical Reports Server (NASA) · 1990
The Telerobot Interactive Planning System is developed to serve as the highest autonomous-control level of the Telerobot Testbed. A recent prototype is described which integrates an operator interface for supervisory control, a task planner supporting disassembly and re-assembly operations, and a spatial planner for collision-free manipulator motion through the workspace. Each of these components is described in detail. Descriptions of the technical problem, approach, and lessons learned are included.