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

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Pages2641-2648
Number of pages8
DOIs
Publication statusPublished - 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 2012 Oct 72012 Oct 12

Publication series

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

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Masone, C., Franchi, A., Bulthoff, H. H., & Giordano, P. R. (2012). Interactive planning of persistent trajectories for human-assisted navigation of mobile robots. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 2641-2648). [6386171] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6386171