Experimental analysis of a variable autonomy framework for controlling a remotely operating mobile robot

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Authors

Colleges, School and Institutes

External organisations

  • School of Computer Science, The University of Birmingham
  • Defense Science and Technology Laboratory, UK

Abstract

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.

Details

Original languageEnglish
Title of host publicationProceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Publication statusE-pub ahead of print - 1 Dec 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) - Daejeon, Korea, Republic of
Duration: 9 Oct 201614 Oct 2016

Conference

Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
CountryKorea, Republic of
CityDaejeon
Period9/10/1614/10/16