A new efficiency-weighted strategy for continuous human/robot cooperation in navigation
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Bayesian plan recognition for brain-computer interfaces
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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Human integration is essential in systems where autonomous control alone would not be successful. In this paper, we present a framework for integrating a human supervisor into an otherwise autonomous control system. To facilitate integration, discrete event systems theory is adopted to model human interactions. It is via this interaction model that human commands can be combined with commands from an automated control system. For control synthesis, a method based on constraints is being used to generate velocity commands from the autonomous task level controller. The constraints are also utilized to limit human input so that erroneous human input is minimized. The methods are demonstrated by experiments