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Conference Papers Year : 2020

Shared Control Active Perception for Human-Assisted Navigation

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Marco Cognetti
  • Function : Author
  • PersonId : 1087956
Marco Aggravi
  • Function : Author
  • PersonId : 1087957
Paolo Salaris
  • Function : Author
  • PersonId : 1087958

Abstract

We propose a shared control and active perception framework combining the skills of a human operator in accomplishing complex tasks with the capabilities of a mobile robot in autonomously maximizing the information acquired by the onboard sensors for improving its state estimation. The human operator modifies at runtime some suitable properties of a persistent cyclic path followed by the robot and, at the same time, the path is concurrently adjusted by the robot with the aim of maximizing the collected information. This combined behavior enables the human operator to control the high-level task while the robot autonomously improves its state estimation. The user is also provided with guidance feedback pointing in the direction that would maximize an information metric. We evaluated our approach in human subject studies, testing the effectiveness of including the active perception in a task priority framework, as well as of providing a user feedback (either visual or haptic).
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Dates and versions

hal-03103583 , version 1 (08-01-2021)

Identifiers

  • HAL Id : hal-03103583 , version 1

Cite

Marco Cognetti, Marco Aggravi, Claudio Pacchierotti, Paolo Salaris, Paolo Robuffo Giordano. Shared Control Active Perception for Human-Assisted Navigation. I-RIM 2020 - 2nd Italian Conference on Robotics and Intelligent Machines, Dec 2020, Online, Italy. pp.1-2. ⟨hal-03103583⟩
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