Execution-Lease Return Navigation for Teleoperated Robots
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Solution Overview
Problem
Semi-autonomous robots often lose communication with operators while navigating to hazardous areas, making it impractical to reestablish a communication link, especially when they enter areas with insufficient wireless coverage, leading to a lack of control over the robot's operations.
Innovation Solution
Implementing a method where the robot autonomously navigates to a return location by executing queued commands when communication is lost, using a leasing system to manage execution leases and determine the return location based on previous communication points, allowing it to reestablish contact with the operator.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot navigates to hazardous areas with insufficient wireless coverage, then the robot can perform operations in remote locations, but the robot loses communication with the operator
Solution Approach 1:
The system pre-queues return commands and establishes execution leases before the robot enters communication-denied areas. When communication is lost, the robot automatically executes the pre-prepared return commands to navigate back to the last known communication point, eliminating the need for real-time operator control during the return journey.
2Reliability
If the robot operates autonomously when communication is lost, then the robot can return to a safe location, but the operator loses control over the robot's operations
Solution Approach 1:
The system dynamically transitions between teleoperated and autonomous modes based on communication availability. Execution leases provide time-bound autonomous operation windows where the robot can execute pre-approved commands without operator input. The operator regains control when communication is reestablished or by issuing new commands that update the execution queue.
3Ease of operation
If the robot waits for operator commands in hazardous areas, then the operator maintains control, but the robot cannot return if communication is permanently lost
Solution Approach 1:
The operator pre-configures return commands and execution leases before the robot enters hazardous areas. These pre-prepared instructions include navigation paths to the last known communication point and are automatically executed when communication is lost, ensuring the robot can return even if the operator never reestablishes contact.
Solution Approach 2:
The system continuously monitors communication status and automatically triggers the return sequence when communication is detected as lost. The robot provides status updates about its return progress, and the operator can monitor and intervene if needed, creating a feedback loop that balances autonomous action with operator awareness.
Data Source
AI summary
A method includes obtaining, from an operator of a robot, a return execution lease associated with one or more commands for controlling the robot that is scheduled within a sequence of execution leases. The robot is configured to execute commands associated with a current execution lease that is an earliest execution lease in the sequence of execution leases that is not expired. The method includes obtaining an execution lease expiration trigger triggering expiration of the current execution lease. After obtaining the trigger, the method includes determining that the return execution lease is a next current execution lease in the sequence. While the return execution lease is the current execution lease, the method includes executing the one or more commands for controlling the robot associated with the return execution lease which cause the robot to navigate to a return location remote from a current location of the robot.