English
 
User Manual Privacy Policy Disclaimer Contact us
  Advanced SearchBrowse

Item

ITEM ACTIONSEXPORT
  Interactive Planning of Persistent Trajectories for Human-Assisted Navigation of Mobile Robots

Masone, C., Franchi, A., Bülthoff, H., & Robuffo Giordano, 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 (pp. 2641-2648). Piscataway, NJ, USA: IEEE.

Item is

Basic

show hide
Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-B5C2-A Version Permalink: http://hdl.handle.net/21.11116/0000-0001-8B36-6
Genre: Conference Paper

Files

show Files

Locators

show
hide
Description:
-

Creators

show
hide
 Creators:
Masone, C1, 2, Author              
Franchi, A1, 2, Author              
Bülthoff, HH1, 2, Author              
Robuffo Giordano, R1, 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              

Content

show
hide
Free keywords: -
 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.

Details

show
hide
Language(s):
 Dates: 2012-10
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1109/IROS.2012.6386171
BibTex Citekey: MasoneFBR2012
 Degree: -

Event

show
hide
Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)
Place of Event: Vilamoura, Portugal
Start-/End Date: 2012-10-07 - 2012-10-12

Legal Case

show

Project information

show

Source 1

show
hide
Title: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Source Genre: Proceedings
 Creator(s):
Affiliations:
Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 2641 - 2648 Identifier: ISBN: 978-1-4673-1737-5