SMART: a modular control architecture for telerobotics

SMART (Sequential Modular Architecture for Robotics and Teleoperation) is designed to integrate the different slave devices (e.g., large hydraulic arms, mobile manipulators, gantry robots), sensors (e.g., ultrasonic sensors, force sensors), and input devices (e.g., force/torque ball, force-reflecting master, autonomous trajectory generators) required for waste management and environmental restoration tasks