From Shared Control to Collaborative Navigation

Abstract

AbstractSituations where machines and persons cooperate to achieve a common goal fall within the field of shared control [3][15][79][67]. As commented, it is medically advisable to give people just the amount of help needed, and not to provide too much, so that persons keep active and practise their skills. This approach avoids, at least partially, loss of residual capabilities and minimizes stress and frustration. Shared control, in extreme, leads to human control -if the robotic wheelchair provides no assistance at all- or to conventional robot autonomous navigation, if the user only provides a destination. Ideally, though, the contribution of person and machine to control should be adjusted depending on the environment, input instance and user’s state and condition.KeywordsMotion VectorShare ControlInnocent BystanderNarrow CorridorMotion CommandThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.