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

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) onthefly. Our hypothesis is that the HI system will enable superior navigation performance compared t...

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Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.1109/IROS.2016.7759527

Authors


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Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Oxford college:
Pembroke College
Role:
Author
ORCID:
0000-0002-7556-6098
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Grant:
PhD bursary scheme, contract no. DSTLX-1000074621
British Ministry of Defence More from this funder
Publisher:
IEEE Publisher's website
Journal:
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Journal website
Volume:
2016-November
Pages:
3581-3588
Host title:
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publication date:
2016-12-01
Acceptance date:
2016-07-01
DOI:
ISSN:
2153-0866
Source identifiers:
820015
ISBN:
9781509037629
Pubs id:
pubs:820015
UUID:
uuid:c42a1227-1077-4251-8899-92f4fdd47058
Local pid:
pubs:820015
Deposit date:
2018-01-24

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