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This fully operational multiarm system can operate in teleoperated or supervisory control modes, as well as mixed shared\u2010control modes, thus enabling operations in totally to partially unstructured environments. Various sources of uncertainty are identified and approaches to minimize their effects are presented. In the teleoperated mode, the system uses two force\u2010reflecting hand controllers to operate two manipulator arms. A third arm is utilized to position four cameras to view the scene. In the supervisory mode, the system can be operated from three different levels: task, process, and servo levels, providing different levels of autonomy and performance. Various tools are provided so that an operator can perform tasks even when objects are partially occluded or their positions are not known a priori. Facilities are available for building models of previously unknown objects on\u2010line, as well as generating collision\u2010free motions. Architecturally, the system is designed so that an operator and much of the associated computing environment can be located remotely relative to the robots. As such, ground\u2010controlled remote manipulation is possible.<\/jats:p>","DOI":"10.1002\/rob.4620090210","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:09:16Z","timestamp":1183727356000},"page":"261-280","source":"Crossref","is-referenced-by-count":8,"title":["Supervisory telerobotics testbed for unstructured environments"],"prefix":"10.1002","volume":"9","author":[{"given":"S.","family":"Hayati","sequence":"first","affiliation":[]},{"given":"J.","family":"Balaram","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/7.9680"},{"key":"e_1_2_1_3_2","unstructured":"J.Matijevic W.Zimmerman andS.Dolinsky \u201cThe NASA\/OAST telerobot testbed architecture \u201d Proc. of NASA Conf. on Space Telerobotics Pasadena CA January 31\u2010February 2 1989."},{"key":"e_1_2_1_4_2","unstructured":"E.Kanet al. \u201cThe JPL telerobot operator control station: Part I\u2014hardware \u201d Proc. of NASA Conf. on Space Telerobotics Pasadena CA January 31\u2010February 2 1989."},{"key":"e_1_2_1_5_2","unstructured":"E.Kanet al. \u201cThe JPL telerobot operator control station: Part II\u2014software \u201d Proc. of NASA Conf. on Space Telerobotics Pasadena CA January 31\u2010February 2 1989."},{"volume-title":"GARE: Geometric analysis and reasoning engine","year":"1989","author":"Desai D.","key":"e_1_2_1_6_2"},{"key":"e_1_2_1_7_2","unstructured":"R.Doshi \u201cTask Planning for \u2018Simple\u2019 Assembly \u201d Ph.D. dissertation Department of Computer Science University of Minnesota October1990."},{"key":"e_1_2_1_8_2","first-page":"211","article-title":"A run\u2010time control architecture for the JPL telerobot","volume":"1","author":"Balaram J.","year":"1987","journal-title":"Proc. of Workshop on Space Telerobotics"},{"key":"e_1_2_1_9_2","doi-asserted-by":"crossref","unstructured":"J.BalaramandG.Rodriguez \u201cAn Ada run\u2010time control architecture for telerobots \u201d Proc. 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