Perceptual basis for reactive teleoperation

To enhance task performance in partially structured environment, enhancement of teleoperation was proposed by introducing autonomous behaviors. Such autonomy is implemented based on reactive robotic architecture, where reactive motor agents that directly couples sensory inputs and motor actions become the building blocks. To this end, presented in this paper is a perceptual basis for the motor agents. The perceptual basis consists of perceptual agents that extracts environmental information from a structured light vision system and provide action oriented perception for the corresponding motor agents. Rather than performing general scene reconstruction, a perceptual agent directly provides the motion reference for the motor behavior. Various sensory mechanisms--sensor fission, fusion, and fashion--becomes basic building blocks of the perception process. Since perception is a process deeply intertwined with the motor actions, active perception may also incorporate motor behaviors as an integral perceptual process.