Semi-Autonomous trajectory generation for mobile robots with integral haptic shared control

Carlo Masone; Paolo Robuffo Giordano; Heinrich H. Bülthoff; Antonio Franchi

doi:10.1109/ICRA.2014.6907814

Semi-Autonomous trajectory generation for mobile robots with integral haptic shared control

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

43 Citations (Scopus)

Abstract

A new framework for semi-Autonomous path planning for mobile robots that extends the classical paradigm of bilateral shared control is presented. The path is represented as a B-spline and the human operator can modify its shape by controlling the motion of a finite number of control points. An autonomous algorithm corrects in real time the human directives in order to facilitate path tracking for the mobile robot and ensures i) collision avoidance, ii) path regularity, and iii) attraction to nearby points of interest. A haptic feedback algorithm processes both human's and autonomous control terms, and their integrals, to provide an information of the mismatch between the path specified by the operator and the one corrected by the autonomous algorithm. The framework is validated with extensive experiments using a quadrotor UAV and a human in the loop with two haptic interfaces.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Automation (ICRA)
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	6468-6475
Number of pages	8
ISBN (Print)	978-1-4799-3685-4
DOIs	https://doi.org/10.1109/ICRA.2014.6907814
Publication status	Published - 22 Sept 2014
Externally published	Yes
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 31 May 2014 → 7 Jun 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation (ICRA)
Publisher	IEEE
Volume	2014
ISSN (Print)	1050-4729

Conference

Conference	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Abbreviated title	ICRA
Country/Territory	China
City	Hong Kong
Period	31/05/14 → 7/06/14

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Access to Document

10.1109/ICRA.2014.6907814

Cite this

Masone, C., Giordano, P. R., Bülthoff, H. H., & Franchi, A. (2014). Semi-Autonomous trajectory generation for mobile robots with integral haptic shared control. In 2014 IEEE International Conference on Robotics and Automation (ICRA) (pp. 6468-6475). (Proceedings - IEEE International Conference on Robotics and Automation (ICRA); Vol. 2014). IEEE. https://doi.org/10.1109/ICRA.2014.6907814

@inproceedings{bc8ac8ca39f04fe0b87addf491059413,

title = "Semi-Autonomous trajectory generation for mobile robots with integral haptic shared control",

abstract = "A new framework for semi-Autonomous path planning for mobile robots that extends the classical paradigm of bilateral shared control is presented. The path is represented as a B-spline and the human operator can modify its shape by controlling the motion of a finite number of control points. An autonomous algorithm corrects in real time the human directives in order to facilitate path tracking for the mobile robot and ensures i) collision avoidance, ii) path regularity, and iii) attraction to nearby points of interest. A haptic feedback algorithm processes both human's and autonomous control terms, and their integrals, to provide an information of the mismatch between the path specified by the operator and the one corrected by the autonomous algorithm. The framework is validated with extensive experiments using a quadrotor UAV and a human in the loop with two haptic interfaces.",

author = "Carlo Masone and Giordano, \{Paolo Robuffo\} and B{\"u}lthoff, \{Heinrich H.\} and Antonio Franchi",

year = "2014",

month = sep,

day = "22",

doi = "10.1109/ICRA.2014.6907814",

language = "English",

isbn = "978-1-4799-3685-4",

series = "Proceedings - IEEE International Conference on Robotics and Automation (ICRA)",

publisher = "IEEE",

pages = "6468--6475",

booktitle = "2014 IEEE International Conference on Robotics and Automation (ICRA)",

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note = "2014 IEEE International Conference on Robotics and Automation, ICRA 2014, ICRA ; Conference date: 31-05-2014 Through 07-06-2014",

}

Masone, C, Giordano, PR, Bülthoff, HH & Franchi, A 2014, Semi-Autonomous trajectory generation for mobile robots with integral haptic shared control. in 2014 IEEE International Conference on Robotics and Automation (ICRA). Proceedings - IEEE International Conference on Robotics and Automation (ICRA), vol. 2014, IEEE, Piscataway, NJ, pp. 6468-6475, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31/05/14. https://doi.org/10.1109/ICRA.2014.6907814

Semi-Autonomous trajectory generation for mobile robots with integral haptic shared control. / Masone, Carlo; Giordano, Paolo Robuffo; Bülthoff, Heinrich H. et al.
2014 IEEE International Conference on Robotics and Automation (ICRA). Piscataway, NJ: IEEE, 2014. p. 6468-6475 (Proceedings - IEEE International Conference on Robotics and Automation (ICRA); Vol. 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Semi-Autonomous trajectory generation for mobile robots with integral haptic shared control

AU - Masone, Carlo

AU - Giordano, Paolo Robuffo

AU - Bülthoff, Heinrich H.

AU - Franchi, Antonio

PY - 2014/9/22

Y1 - 2014/9/22

N2 - A new framework for semi-Autonomous path planning for mobile robots that extends the classical paradigm of bilateral shared control is presented. The path is represented as a B-spline and the human operator can modify its shape by controlling the motion of a finite number of control points. An autonomous algorithm corrects in real time the human directives in order to facilitate path tracking for the mobile robot and ensures i) collision avoidance, ii) path regularity, and iii) attraction to nearby points of interest. A haptic feedback algorithm processes both human's and autonomous control terms, and their integrals, to provide an information of the mismatch between the path specified by the operator and the one corrected by the autonomous algorithm. The framework is validated with extensive experiments using a quadrotor UAV and a human in the loop with two haptic interfaces.

AB - A new framework for semi-Autonomous path planning for mobile robots that extends the classical paradigm of bilateral shared control is presented. The path is represented as a B-spline and the human operator can modify its shape by controlling the motion of a finite number of control points. An autonomous algorithm corrects in real time the human directives in order to facilitate path tracking for the mobile robot and ensures i) collision avoidance, ii) path regularity, and iii) attraction to nearby points of interest. A haptic feedback algorithm processes both human's and autonomous control terms, and their integrals, to provide an information of the mismatch between the path specified by the operator and the one corrected by the autonomous algorithm. The framework is validated with extensive experiments using a quadrotor UAV and a human in the loop with two haptic interfaces.

UR - https://www.scopus.com/pages/publications/84929208240

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DO - 10.1109/ICRA.2014.6907814

M3 - Conference contribution

AN - SCOPUS:84929208240

SN - 978-1-4799-3685-4

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BT - 2014 IEEE International Conference on Robotics and Automation (ICRA)

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T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014

Y2 - 31 May 2014 through 7 June 2014

ER -

Semi-Autonomous trajectory generation for mobile robots with integral haptic shared control

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