Title: RoboSimian Software System from the DARPA Robotics Challenge Finals
text: A software architecture to allow semi-autonomous mobile manipulation of highly dexterous robots under degraded communications was developed to enable remote operation of a mobile manipulation robot as a first responder in a disaster-response scenario. The software architecture is structured to be adaptable at the lowest level and repeatable at the highest level. This architecture strikes the right balance between autonomy and supervision, and lets the robot excel in its capabilities (repeatability, strength, precision) and lets the operators excel at their capabilities (situational awareness, context, high-level reasoning).