Interactive planning of persistent trajectories for human-assisted navigation of mobile robots

Abstract

Abstract-This work extends the framework of bilateral shared control of mobile robots with the aim of increasing the robot autonomy and decreasing the operator commitment. We consider persistent autonomous behaviors where a cyclic motion must be executed by the robot. The human operator is in charge of modifying online some geometric properties of the desired path. This is then autonomously processed by the robot in order to produce an actual path guaranteeing: i) tracking feasibility, ii) collision avoidance with obstacles, iii) closeness to the desired path set by the human operator, and iv) proximity to some points of interest. A force feedback is implemented to inform the human operator of the global deformation of the path rather than using the classical mismatch between desired and executed motion commands. Physically-based simulations, with human/hardware-in-the-loop and a quadrotor UAV as robotic platform, demonstrate the feasibility of the method.

The TeleKyb framework for a modular and extendible ROS-based quadrotor control

“…Similarly, the ROS-MATLAB bridge can be utilized for the integration of human input devices with existing ROS drivers into MAT-LAB programs. Our bridge has already been successfully applied in various setups [10], [11].…”

A learning-based shared control architecture for interactive task execution

“…Assisted teleoperation frameworks, in which the human inputs are 'mediated' by the (partial) autonomy of the controlled robotic systems, have thus been proposed for reducing the workload requirements of the human operator and improving her/his performance [2]- [4]. Examples in this sense range from virtual fixtures [5], [6], which are taskdependent and require continuous human input, to more complicated shared control schemes aiming at profiting from the human's supervisory capabilities in guiding an autonomous system [4], [7].…”

A semi-autonomous UAV platform for indoor remote operation with visual and haptic feedback

“…A novel force feedback user interface for mobile robotic vehicles with dynamics has been shown by [7], and a novel force feedback algorithm that allows the user to feel the texture of the environment has been recently presented by [8]. Finally in [9], [10] the authors have shown how single-robot haptic teleoperation can be seamlessly integrated with complex path planning techniques.…”