| 期刊全稱 | A Stable and Transparent Framework for Adaptive Shared Control of Robots | | 影響因子2023 | Ribin Balachandran | | 視頻video | http://file.papertrans.cn/143/142252/142252.mp4 | | 發(fā)行地址 | Develops methods for best performance and stability in shared control systems.Winner of the Georges Giralt PhD Award.Provides a framework to make adaptive shared controllers stable | | 學(xué)科分類 | Springer Tracts in Advanced Robotics | | 圖書(shū)封面 |  | | 影響因子 | .Robotic research and developments in computing technologies including artificial intelligence have led to significant improvements in autonomous capabilities of robots. Yet, human supervision is advisable and, in many cases, necessary when robots interact with real-world, outside-lab environments. This is due to the fact that complete autonomy in robots has not yet been achieved. When robots encounter challenges beyond their capabilities, a viable solution is to include human operators in the loop, who can support robots through teleoperation, taking complete control or .shared control..?..This monograph focuses on a special form of shared control, namely mixed-initiative, where the final command to the robot is a weighted sum of the commands from the operator and the autonomous controller. The weights (fixed or adaptive), called authority allocation (AA) factors, decide who has more control authority over the robot. Several research groups use different methods toadapt the AA factors online and the benefits of adaptive mixed-initiative shared control have been well established in terms of task completion success and operator usability. However, stability of the overall shared con | | Pindex | Book 2024 |
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