Towards a Versatile Teleoperation System for Mobile Robots through a Modular Architecture and Scalable Autonomy

Fully autonomous applications of mobile robots can result in failures due to their limited ability to react to unforeseen situations. While teleoperation can utilize the experience and flexibility of a human operator, it can lead to repetitive workflows and requires considerable familiarity with the robot’s interface. In this work, we present a versatile and modular framework with a scalable autonomy that incorporates pure manual teleoperation using a 3D mouse as well as automated subroutines. The manual manipulation can be adapted to improve ease of use through different modes and restrictions. The versatile application of the manual teleoperation with a 3D mouse, the usefulness of the automated subroutines, and the enhanced ease of use they provide for novice users, are explored in two separate scenarios inspired by factory maintenance tasks. We believe that our work offers valuable insights into versatile teleoperation frameworks and how scalable autonomy levels can be used to enhance teleoperation rather than competing with it.