Sensor-rich, intelligent robots that function with respect to models of their environment have significant potential to reduce the time and cost for the cleanup of hazardous waste while increasing operator safety. Sandia National Laboratories is performing experimental investigations into the application of intelligent robot control technology to the problem of removing waste stored in tanks. This article describes the experimental environment employed at Sandia with particular attention to the computing and software control environment. Intelligent system control is achieved through the integration of extensive geometric and kinematic world models with real-time sensor-based control. All operator interactions with the system are through fully animated, graphical representations that validate all operator commands before execution to provide for safe operation. Sensing is used to add information to the robot system's world model and to allow sensor-based servo control during selected operations. The results of a first critical features test are reported and the potential for applying advanced intelligent control concepts to the removal of waste in storage tanks is discussed.
