Interactive planning of persistent trajectories for human-assisted navigation of mobile robots

Carlo Masone*, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano

*Corresponding author for this work

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

22 Citations (Scopus)

Abstract

This work extends the framework of bilateral shared control of mobile robots with the aim of increasing the robot autonomy and decreasing the operator commitment. We consider persistent autonomous behaviors where a cyclic motion must be executed by the robot. The human operator is in charge of modifying online some geometric properties of the desired path. This is then autonomously processed by the robot in order to produce an actual path guaranteeing: i) tracking feasibility, ii) collision avoidance with obstacles, iii) closeness to the desired path set by the human operator, and iv) proximity to some points of interest. A force feedback is implemented to inform the human operator of the global deformation of the path rather than using the classical mismatch between desired and executed motion commands. Physically-based simulations, with human/hardware-in-the-loop and a quadrotor UAV as robotic platform, demonstrate the feasibility of the method.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages2641-2648
Number of pages8
ISBN (Electronic)978-1-4673-1736-8
ISBN (Print)978-1-4673-1737-5, 978-1-4673-1735-1 (CD)
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Portugal
Duration: 7 Oct 201212 Oct 2012
Conference number: 25

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE
Volume2012
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Abbreviated titleIROS
CountryPortugal
CityVilamoura
Period7/10/1212/10/12

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