Work Packages

Project Structure and Implementation Roadmap

The project is organized into three interconnected work packages progressing from multimodal framework development to safety-aware control and experimental validation in relevant environments.

WP1

Multimodal Visual-Haptic Teleoperation Framework

Unified perception, interface design, and software integration

This work package focuses on the development of the core multimodal teleoperation framework. It integrates perception, operator interaction, and software-level system composition into a unified architecture for remote robot operation, inspection, and physical intervention.

Tasks

T1.1 Multimodal Perception
T1.2 Visual-Haptic Interface
T1.3 Integrated software stack

Expected Outcomes

Integrated multimodal perception and teleoperation framework
Operator-centered visual-haptic interaction interface
Unified software stack for navigation, inspection, and intervention

WP2

Operator-Aware Safe Maneuver Selection

Predictive safety filtering and safe control under uncertainty

This work package develops operator-aware safety mechanisms for teleoperation. The emphasis is on context-aware filtering, predictive control for obstacle avoidance, and simulation-driven testing of safe maneuver strategies in uncertain and constrained environments.

Tasks

T2.1 Context-Aware Safety Filtering
T2.2 Predictive control techniques for obstacle avoidance
T2.3 Simulation-driven validation of safe maneuvers

Expected Outcomes

Context-aware safety filtering mechanisms for teleoperation
Predictive control methods for obstacle avoidance and safe maneuvering
Simulation-based benchmarking of maneuver safety and robustness
Operator-aware assistance strategies for safer remote operation

WP3

Experimental Validation in Semi-Structured Inspection Environments

Prototype development and validation in underwater and greenhouse environments

This work package focuses on experimental validation of the proposed framework in semi-structured inspection and intervention settings. It includes prototype development and testing across both underwater and greenhouse environments to assess transferability, robustness, and deployment readiness.

Tasks

T3.1 Prototype development
T3.2 Testing & validation in underwater environment
T3.3 Testing & validation in greenhouse facilities

Expected Outcomes

Validated prototype for visual-haptic teleoperation
Experimental results from underwater inspection scenarios
Experimental results from greenhouse validation scenarios
Evidence of cross-domain robustness and readiness toward TRL 4–6