Human-in-the-Loop Optimization of Shared Autonomy in Assistive Robotics
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2016.2593928
Abstract: In this paper, we propose a mathematical framework which formalizes user-driven customization of shared autonomy in assistive robotics as a nonlinear optimization problem. Our insight is to allow the end-user, rather than relying on standard… read more here.
Keywords: autonomy assistive; human loop; shared autonomy; robotics ... See more keywords
Corrective Shared Autonomy for Addressing Task Variability
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3064500
Abstract: Many tasks, particularly those involving interaction with the environment, are characterized by high variability, making robotic autonomy difficult. One flexible solution is to introduce the input of a human with superior experience and cognitive abilities… read more here.
Keywords: task variability; shared autonomy; autonomy addressing; variability ... See more keywords
An Energy-Based Control Architecture for Shared Autonomy
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2022.3180885
Abstract: In robotic applications where the autonomy is shared between the human and the robot, the autonomous behavior of the robotic system is determined considering mainly the task to be executed and the data collected from… read more here.
Keywords: shared autonomy; control; energy based; architecture shared ... See more keywords
Gaze-Based Intention Estimation for Shared Autonomy in Pick-and-Place Tasks
Sign Up to like & getrecommendations! Published in 2021 at "Frontiers in Neurorobotics"
DOI: 10.3389/fnbot.2021.647930
Abstract: Shared autonomy aims at combining robotic and human control in the execution of remote, teleoperated tasks. This cooperative interaction cannot be brought about without the robot first recognizing the current human intention in a fast… read more here.
Keywords: estimation; place tasks; shared autonomy; intention estimation ... See more keywords