Bilateral human-robot control for semi-autonomous UAV navigation

Han W. Wopereis, Matteo Fumagalli, Stefano Stramigioli, Raffaella Carloni

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

2 Citations (Scopus)

Abstract

This paper proposes a semi-autonomous bilateral control architecture for unmanned aerial vehicles. During autonomous navigation, a human operator is allowed to assist the autonomous controller of the vehicle by actively changing its navigation parameters to assist it in critical situations, such as navigating through narrow paths. The overall goal of the controller is to combine the stability and precision of an autonomous control with the cognitive abilities of a human operator, only when strictly required for the accomplishment of a task. The control architecture has been validated through simulations and experiments.

Original languageEnglish
Title of host publication2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Number of pages7
Volume2015-December
Place of PublicationHamburg, Tyskland
PublisherIEEE
Publication date11 Dec 2015
Pages5234-5240
Article number7354115
ISBN (Electronic)9781479999941
DOIs
Publication statusPublished - 11 Dec 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: 28 Sept 20152 Oct 2015

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/TerritoryGermany
CityHamburg
Period28/09/201502/10/2015
SponsorBosch, dji, et al., KUKA, rethink robotics, SIAT
SeriesI E E E International Conference on Intelligent Robots and Systems. Proceedings
ISSN2153-0858

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