Perception-Aware Human-Assisted Navigation of Mobile Robots on Persistent Trajectories

We propose a novel shared control and active perception framework combining the skills of a human operator in accomplishing complex tasks with the capabilities of a mobile robot in autonomously maximizing the information acquired by the onboard sensors for improving its state estimation. The human o...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 5; no. 3; pp. 4711 - 4718
Main Authors:	Cognetti, Marco, Aggravi, Marco, Pacchierotti, Claudio, Salaris, Paolo, Giordano, Paolo Robuffo
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.07.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Active control Computer Science Feedback Human-centered robotics Maximization Mobile robots Optimization optimization and optimal control Perception reactive and sensor-based planning Robot sensing systems Robotics Robots Splines (mathematics) State estimation Task analysis Task complexity Trajectory Reactive and Sensor- Based Planning Human-Centered Robotics Optimization and Optimal Control
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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