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This paper presents a principled experimental analysis of a variable autonomy control approach to mobile robot navigation. A Human-Initiative (HI) variable autonomy system is investigated, in which a human operator is able to switch the Level of Autonomy (LOA) between teleoperation (joystick control) and autonomous control (robot navigates autonomously towards waypoints selected by the human) on-the-fly. Our hypothesis is that the HI system will enable superior navigation performance compared to either teleoperation or autonomy alone, especially in scenarios where the performance of both the human and the robot may at times become degraded. We evaluate our hypothesis through carefully controlled and repeatable experiments using a significant number of human test-subjects.
|Title of host publication||Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)|
|Publisher||Institute of Electrical and Electronics Engineers (IEEE)|
|Number of pages||8|
|Publication status||E-pub ahead of print - 1 Dec 2016|
|Event||2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) - Daejeon, Korea, Republic of|
Duration: 9 Oct 2016 → 14 Oct 2016
|Conference||2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)|
|Country/Territory||Korea, Republic of|
|Period||9/10/16 → 14/10/16|
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1/04/15 → 31/03/18