Ambiente di esecuzione di piani supportante Sliding Autonomy in riferimento a domini di esplorazione spaziale

SASP (Sliding Autonomy System in Plexil) is a Plan Execution Environment of a mobile robot (the Rover) operating at different autonomy degrees. The project implements the main aspects and requirements of the Sliding Autonomy approach. SASP proposes the guide-lines of autonomous systems which are able to cooperate with a human both in the decision making and in execution. The work of this thesis has been done in co-operation with Thales Alenia Space ¿ Italia and the topics addressed in the thesis are of interest for Workpackage 1.I "`Human machine interaction"' of the project STEPS. Such a project, supported by Regione Piemonte, involves many partners (both Academic, large industries and SMEs)and it is leaded by Thales Alenia Space.