摘要: The Telerobot Interactive Planning System is developed to serve as the highestautonomous-control level of the Telerobot Testbed. A recent prototype is described which integrates an operator interface for supervisory control, a tas... 展开 The Telerobot Interactive Planning System is developed to serve as the highestautonomous-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. 收起