NDLI: Smoothly adjustable autonomy for the low-level remote control of mobile robots that is independent of the navigation algorithm

Content Provider	IEEE Xplore Digital Library
Author	Martinez-Tenor, A. Fernandez-Madrigal, J.-A.
Copyright Year	2015
Description	Author affiliation: Syst. Eng. & Autom. Dept., Univ. of Malaga, Málaga, Spain (Martinez-Tenor, A.; Fernandez-Madrigal, J.-A.)
Abstract	Autonomy in robotics can be seen as a continuum in which we can select different levels of collaborative control between humans and robots, ranging from tele-operation (full control by the human) to full autonomy. In many practical applications, the main issues are which intermediate levels of autonomy are available and how to change from one to another. In this paper we are interested in providing smoothly adjustable autonomy to remotely controlled mobile robots, that is, an automatic mechanism for selecting the degree of collaborative control that remains mostly unnoticed to the human in normal situations, providing him/her the maximum sense of control that is possible at every time. Adjustable autonomy has been reported previously, but not pursuing simultaneously: i) to control remotely a mobile robot at the servo-process level (i.e., direct control commands), ii) to be independent from the use of a given particular navigation algorithm, and iii) to change the autonomy level smoothly. Our solution is based on a motion demultiplexer that predicts, using the robot kinematics, target locations where the user intends to place the mobile platform in the future. Our experiments show that all the requirements of our approach can be satisfied with minimum modifications to existing robotic control software.
Starting Page	1071
Ending Page	1078
File Size	1799135
Page Count	8
File Format	PDF
ISBN	9781479999361
DOI	10.1109/MED.2015.7158899
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-06-16
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Algorithm design and analysis robot navigation Navigation tele-operation Robot sensing systems Prediction algorithms Delays Mobile robots semi-autonomy
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Guidance navigation for the remote operation system with the expanded guide circle

Development of a remote workstation for the operation of autonomous navigation mobile robot

Multifeatured visualization and navigation in tele-operation of mobile robots

Field trial for simultaneous teleoperation of mobile social robots

Virtual 360 ◦ panorama for remote inspection.

A surveillance 3D hand-tracking-based Tele-operated UGV

Towards the Principled Study of Variable Autonomy in Mobile Robots

Study of feasible trajectory generation algorithms for control of planar mobile robots

Novelty Detection Based on NCD for Navigation Control of Mobile Robots

Smoothly adjustable autonomy for the low-level remote control of mobile robots that is independent of the navigation algorithm

Similar Documents

Guidance navigation for the remote operation system with the expanded guide circle

Development of a remote workstation for the operation of autonomous navigation mobile robot

Multifeatured visualization and navigation in tele-operation of mobile robots

Field trial for simultaneous teleoperation of mobile social robots

Virtual 360 ◦ panorama for remote inspection.

A surveillance 3D hand-tracking-based Tele-operated UGV

Towards the Principled Study of Variable Autonomy in Mobile Robots

Study of feasible trajectory generation algorithms for control of planar mobile robots

Novelty Detection Based on NCD for Navigation Control of Mobile Robots

Smoothly adjustable autonomy for the low-level remote control of mobile robots that is independent of the navigation algorithm