Human-Centered Cooperative Control Coupling Autonomous and Haptic Shared Control via Control Barrier Function
Haptic shared control (HSC) is effective in teleoperation when full autonomy is limited by uncertainty or sensing constraints. However, autonomous control performance achieved by maximizing HSC strength is limited because the dynamics of the joystick and human arm affect the robot's behavior. We propose a cooperative framework coupling a joystick-independent autonomous controller with HSC. A control barrier function ignores joystick inputs within a safe region determined by the human operator in real-time, while HSC is engaged otherwise. A pilot experiment on simulated tasks with tele-operated underwater robot in virtual environment demonstrated improved accuracy and reduced required time over conventional HSC.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Human-vehicle Cooperative Visual Perception for Autonomous Driving under Complex Road and Traffic Scenarios
Human-vehicle cooperative driving has become the critical technology of autonomous driving, which reduces the workload of human drivers. However, the complex and uncertain road environments bring great challenges to the …
Autonomous DrivingAutonomous Vehiclesobject-detectionObject Detection+1A Cooperative Compliance Control Framework for Socially Optimal Mixed Traffic Routing
In mixed traffic environments, where Connected and Autonomed Vehicles (CAVs) coexist with potentially non-cooperative Human-Driven Vehicles (HDVs), the self-centered behavior of human drivers may compromise the efficienc…
TruckV2X: A Truck-Centered Perception Dataset
Autonomous trucking offers significant benefits, such as improved safety and reduced costs, but faces unique perception challenges due to trucks' large size and dynamic trailer movements. These challenges include extensi…
Cooperative Formation of Autonomous Vehicles in Mixed Traffic Flow: Beyond Platooning
Cooperative formation and control of autonomous vehicles (AVs) promise increased efficiency and safety on public roads. In mixed traffic flow consisting of AVs and human-driven vehicles (HDVs), the prevailing platooning …
Autonomous VehiclesBridging Embodiment Gaps: Deploying Vision-Language-Action Models on Soft Robots
Robotic systems are increasingly expected to operate in human-centered, unstructured environments where safety, adaptability, and generalization are essential. Vision-Language-Action (VLA) models have been proposed as a …