Tele-Autonomous Active Stereo-Vision Head

Abstract

Supervised autonomy is defined as a framework to control robotic systems, which combines tele-operation in the high-level with autonomous functions in the low-level. The main advantage of such a scheme is that the human operator of the tele-operated device does not need to care about functions, which can be performed by a local controller and, thus, he remains undistracted during his activity. In this article, the autonomous functions that a robotized stereo head should bear to accomplish outdoors rescue tasks is discussed. Paradigm algorithms implementing these functions are presented and respective experimental results are apposed.