Systems, Computer Program Products, and Methods for Controlling Robots

A control system for controlling operation of a robot in an environment, comprising:

• a robot, including:
• a plurality of sensors configured to convert information from the environment and the robot into sensor data, wherein each sensor of the plurality of sensors generates a stream of raw sensor data having a data type, a size, and a frequency;
• a plurality of actuators configured to cause movement of the robot;
• an autonomous control subsystem, communicatively coupled to the robot, and configured to receive the sensor data from the plurality of sensors and output autonomous actuator data to the plurality of actuators;
• and
• a teleoperation control subsystem, communicatively coupled to the robot, and configured to receive the sensor data from plurality of sensors, transmit the sensor data to a human operator, and output teleoperation actuator control signals to the plurality of actuators, wherein the teleoperation actuator data are generated according to input from the human operator;
• wherein the autonomous control subsystem and the teleoperation control subsystem receive, from the robot, sensor data having the same data type, the same size, and the same frequency;
• and
• wherein the autonomous actuator data and the teleoperation actuator data have the same data type, the same size, and the same frequency;
• and
• a control-determining subsystem configured to determine which of the autonomous control subsystem and the teleoperation control subsystem controls the robot.