Collaborative emergent navigation based on biometric weighted shared control

  • Authors:

  • B. Fernández-Espejo;A. Poncela;C. Urdiales;F. Sandoval

  • Affiliations:

  • Grupo ISIS, Departamento de Tecnología Electrónica, E.T.S.I. Telecomunicación, Universidad de Málaga, Málaga;Grupo ISIS, Departamento de Tecnología Electrónica, E.T.S.I. Telecomunicación, Universidad de Málaga, Málaga;Grupo ISIS, Departamento de Tecnología Electrónica, E.T.S.I. Telecomunicación, Universidad de Málaga, Málaga;Grupo ISIS, Departamento de Tecnología Electrónica, E.T.S.I. Telecomunicación, Universidad de Málaga, Málaga

  • Venue:
  • IWANN'07 Proceedings of the 9th international work conference on Artificial neural networks
  • Year:
  • 2007

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Abstract

This paper presents a new approach to shared control. It consists of combining orders from a mobile and a human. The weight of these orders is obtained by evaluating their corresponding efficiencies but also of his/her condition, which is estimated by continuously monitoring attached biosensors. We rely on a hierarchical architecture where the reactive layer provides a simple and adaptive combination of these sources. We have evaluated the resulting emergent behaviour for different tasks to measure their efficiencies under different circumstances. The system has been successfully tested in real environments from a quantitative and a qualitative point of view.