Experience deploying robots for security and inspection tasks shows that often the activity of "driving" the robot
interferes with the activity of observing the sensor data (often visual) collected by the robot. It has been suggested that
the supervised autonomy paradigm can improve system performance. In this approach, some aspects of the robot's
actions are automated, particularly motion control, freeing the operator to focus on the inspection task. In this paper we
describe the laboratory-level proof-of-concept development and implementation of a semi-autonomous mode for the
ODIS robot, whereby, under the direction and supervision of an operator, the robot can self-navigate in a limited
structured environment while sending back video images for operator inspection. Laboratory results show the feasibility
of the approach.
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