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A control architecture for safe human-robotic interactions during lunar surface operations (2009)
Long duration human-robotic missions to the Moon and beyond will require increased use of automation beyond current Space Shuttle and International Space Station practice. This paper explores the application of a model- and state-based goal-oriented control architecture to solving the problem of coordinating activities between humans and robots to improve the reliability and safety of these interactions. A goal-oriented control system continuously enforces constraints on states of the system to achieve not only control goals, but also to enforce passive constraints, such as safety constraints, on those activities.
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architecture, control, during, human-robotic, interactions, lunar, operations, safe, surface
Proceedings of the AIAA Infotech Conference, Seattle, Washington, April 6-9, 2009 |
