Bilateral human-robot control for semi-autonomous UAV navigation

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

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2 Citationer (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.

OriginalsprogEngelsk
Titel2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Antal sider7
Vol/bind2015-December
UdgivelsesstedHamburg, Tyskland
ForlagIEEE
Publikationsdato11 dec. 2015
Sider5234-5240
Artikelnummer7354115
ISBN (Elektronisk)9781479999941
DOI
StatusUdgivet - 11 dec. 2015
BegivenhedIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Tyskland
Varighed: 28 sep. 20152 okt. 2015

Konference

KonferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Land/OmrådeTyskland
ByHamburg
Periode28/09/201502/10/2015
SponsorBosch, dji, et al., KUKA, rethink robotics, SIAT
NavnI E E E International Conference on Intelligent Robots and Systems. Proceedings
ISSN2153-0858

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