Flexible command and control interfaces for teleoperations

This paper presents a case study of the various interfaces and underlying architectures used to monitor and control a variety of different robots and test scenarios at the Jet Propulsion Laboratory (JPL). It includes a description of both the software developed and the hardware adapted for the purpose of providing real-time and near-real time interaction with remote assets. Robots range from the prototype lunar exploration robot ATHLETE (All Terrain Hex Limbed Extra Terrestrial Explorer) to aerobot, a propeller driven lighter then air blimp to an assortment of unmanned aerial vehicles (UAV) being tested at White Sands Missile Range (WSMR). The paper focuses primarily on three Virtuoso software tools: the Telemetry Canvas, Scratchpad, and Stereo Display Views. We also describe robot specific implementations of various off-the-shelf hardware input devices. An overview of the existing telemetry distribution networks for each implementation is also covered.