Interactive task planning for telerobotics

Radiation and other hazards in nuclear environmental restoration and waste management work necessitate the use of remote operations to protect human workers. In order to increase the productivity and reduce the workload of operators, the execution of telerobot tasks needs to be automated as much as possible. This thesis develops a framework to allow the operator to interactively generate a sequence of computerized action commands that will be automatically accomplished by a telerobot. Microsoft® Visual C++® is used as the main development software to build the system including the design of graphical user interface.