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

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

Research output: Contribution to journalConference articlepeer-review

35 Citations (Scopus)


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 languageEnglish
Article number6907814
Pages (from-to)6468-6475
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2014 Sept 22
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 2014 May 312014 Jun 7

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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