Bilateral human-robot control for semi-autonomous UAV navigation

Han Willem Wopereis, Matteo Fumagalli, Stefano Stramigioli, Raffaella Carloni

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    2 Citations (Scopus)

    Abstract

    This paper proposes a semi-autonomous bilateral control architecture for unmanned aerial vehicles. During autonomous navigation, a human operator is allowed to assist the autonomous controller of the vehicle by actively changing its navigation parameters to assist it in critical situations, such as navigating through narrow paths. The overall goal of the controller is to combine the stability and precision of an autonomous control with the cognitive abilities of a human operator, only when strictly required for the accomplishment of a task. The control architecture has been validated through simulations and experiments.
    Original languageUndefined
    Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages5234-5240
    Number of pages7
    ISBN (Print)978-1-4799-9994-1
    DOIs
    Publication statusPublished - 2 Oct 2015
    Event2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
    Duration: 28 Sep 20152 Oct 2015
    https://iros2015.informatik.uni-hamburg.de/

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society

    Conference

    Conference2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
    Abbreviated titleIROS
    CountryGermany
    CityHamburg
    Period28/09/152/10/15
    Internet address

    Keywords

    • EWI-26522
    • METIS-315069
    • IR-99025

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