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  A Synergetic High-level/Reactive Planning Framework with Application to Human-Assisted Navigation

Franchi, A., Masone, C., & Robuffo Giordano, P. (2012). A Synergetic High-level/Reactive Planning Framework with Application to Human-Assisted Navigation. In T. Kroeger (Ed.), 2012 IEEE IROS Workshop on Robot Motion Planning: Online, Reactive, and in Real-time (pp. 15-20).

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-B5B6-6 Version Permalink: http://hdl.handle.net/21.11116/0000-0001-8AFF-5
Genre: Conference Paper

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2012o-FraMasRob-preprint.pdf (Any fulltext), 2MB
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 Creators:
Franchi, A1, 2, Author              
Masone, C1, 2, Author              
Robuffo Giordano, P1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: In this work we present a novel framework for the systematic integration of high-level/mission schedulers, middlelevel/cognitive-enabled online-planners and low-level/reactive trajectory modifiers. The approach does not rely on a particular parametrization of the trajectory and assumes a basic environment representation. As an application, the online capabilities of the method can be used to let a mobile robot cooperate with a human taking the role of the middle-level planner. In that case we also describe a rigorous way to bilaterally couple the human and the reactive planner in order to provide an immersive haptic feeling of the planner state. Hardware/Human in-the-loop simulations, with a quadrotor UAV used as robotic platform and a real haptic instrument, are provided as validating showcase of the presented theoretical framework.

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 Dates: 2012-10
 Publication Status: Published in print
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 Identifiers: BibTex Citekey: FranchiMR2012
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Title: 2012 IEEE IROS Workshop on Robot Motion Planning: Online, Reactive, and in Real-time
Place of Event: Vilamoura, Portugal
Start-/End Date: 2012-10-07 - 2012-10-12

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Title: 2012 IEEE IROS Workshop on Robot Motion Planning: Online, Reactive, and in Real-time
Source Genre: Proceedings
 Creator(s):
Kroeger, T, Editor
Guarino Lo Bianco , C, Author
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Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 15 - 20 Identifier: -