Experimental analysis of a variable autonomy framework for controlling a remotely operating mobile robot

Emmanouil Chiou; Goda Bieksaite; Rustam Stolkin; Nick Hawes; Kimron Shapiro; Timothy S Harrison

doi:10.1109/IROS.2016.7759527

Experimental analysis of a variable autonomy framework for controlling a remotely operating mobile robot

Emmanouil Chiou, Goda Bieksaite, Rustam Stolkin, Nick Hawes, Kimron Shapiro, Timothy S Harrison

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

12 Citations (Scopus)

270 Downloads (Pure)

Abstract

This paper presents a principled experimental analysis of a variable autonomy control approach to mobile robot navigation. A Human-Initiative (HI) variable autonomy system is investigated, in which a human operator is able to switch the Level of Autonomy (LOA) between teleoperation (joystick control) and autonomous control (robot navigates autonomously towards waypoints selected by the human) on-the-fly. Our hypothesis is that the HI system will enable superior navigation performance compared to either teleoperation or autonomy alone, especially in scenarios where the performance of both the human and the robot may at times become degraded. We evaluate our hypothesis through carefully controlled and repeatable experiments using a significant number of human test-subjects.

Original language	English
Title of host publication	Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Number of pages	8
DOIs	https://doi.org/10.1109/IROS.2016.7759527
Publication status	E-pub ahead of print - 1 Dec 2016
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) - Daejeon, Korea, Republic of Duration: 9 Oct 2016 → 14 Oct 2016

Conference

Conference	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Country/Territory	Korea, Republic of
City	Daejeon
Period	9/10/16 → 14/10/16

Access to Document

10.1109/IROS.2016.7759527

iros2016FinalAccepted author manuscript, 1.46 MBLicence: Creative Commons: Attribution (CC BY)

Robotic systems for retrieval of contaminated material from hazardous zones
Stolkin, R., Leonardis, A. & Mistry, M.
Engineering & Physical Science Research Council
1/04/15 → 31/03/18
Project: Research

Cite this

Chiou, E., Bieksaite, G., Stolkin, R., Hawes, N., Shapiro, K., & Harrison, T. S. (2016). Experimental analysis of a variable autonomy framework for controlling a remotely operating mobile robot. In Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) Institute of Electrical and Electronics Engineers (IEEE). Advance online publication. https://doi.org/10.1109/IROS.2016.7759527

@inproceedings{f30c115ffa7a4a32a9d1c3cf8df91fb9,

title = "Experimental analysis of a variable autonomy framework for controlling a remotely operating mobile robot",

abstract = "This paper presents a principled experimental analysis of a variable autonomy control approach to mobile robot navigation. A Human-Initiative (HI) variable autonomy system is investigated, in which a human operator is able to switch the Level of Autonomy (LOA) between teleoperation (joystick control) and autonomous control (robot navigates autonomously towards waypoints selected by the human) on-the-fly. Our hypothesis is that the HI system will enable superior navigation performance compared to either teleoperation or autonomy alone, especially in scenarios where the performance of both the human and the robot may at times become degraded. We evaluate our hypothesis through carefully controlled and repeatable experiments using a significant number of human test-subjects.",

author = "Emmanouil Chiou and Goda Bieksaite and Rustam Stolkin and Nick Hawes and Kimron Shapiro and Harrison, {Timothy S}",

year = "2016",

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doi = "10.1109/IROS.2016.7759527",

language = "English",

booktitle = "Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

note = "2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) ; Conference date: 09-10-2016 Through 14-10-2016",

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Chiou, E, Bieksaite, G, Stolkin, R, Hawes, N, Shapiro, K & Harrison, TS 2016, Experimental analysis of a variable autonomy framework for controlling a remotely operating mobile robot. in Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016). Institute of Electrical and Electronics Engineers (IEEE), 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea, Republic of, 9/10/16. https://doi.org/10.1109/IROS.2016.7759527

Experimental analysis of a variable autonomy framework for controlling a remotely operating mobile robot. / Chiou, Emmanouil; Bieksaite, Goda; Stolkin, Rustam et al.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016). Institute of Electrical and Electronics Engineers (IEEE), 2016.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - Experimental analysis of a variable autonomy framework for controlling a remotely operating mobile robot

AU - Chiou, Emmanouil

AU - Bieksaite, Goda

AU - Stolkin, Rustam

AU - Hawes, Nick

AU - Shapiro, Kimron

AU - Harrison, Timothy S

PY - 2016/12/1

Y1 - 2016/12/1

N2 - This paper presents a principled experimental analysis of a variable autonomy control approach to mobile robot navigation. A Human-Initiative (HI) variable autonomy system is investigated, in which a human operator is able to switch the Level of Autonomy (LOA) between teleoperation (joystick control) and autonomous control (robot navigates autonomously towards waypoints selected by the human) on-the-fly. Our hypothesis is that the HI system will enable superior navigation performance compared to either teleoperation or autonomy alone, especially in scenarios where the performance of both the human and the robot may at times become degraded. We evaluate our hypothesis through carefully controlled and repeatable experiments using a significant number of human test-subjects.

AB - This paper presents a principled experimental analysis of a variable autonomy control approach to mobile robot navigation. A Human-Initiative (HI) variable autonomy system is investigated, in which a human operator is able to switch the Level of Autonomy (LOA) between teleoperation (joystick control) and autonomous control (robot navigates autonomously towards waypoints selected by the human) on-the-fly. Our hypothesis is that the HI system will enable superior navigation performance compared to either teleoperation or autonomy alone, especially in scenarios where the performance of both the human and the robot may at times become degraded. We evaluate our hypothesis through carefully controlled and repeatable experiments using a significant number of human test-subjects.

U2 - 10.1109/IROS.2016.7759527

DO - 10.1109/IROS.2016.7759527

M3 - Conference contribution

BT - Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)

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Chiou E, Bieksaite G, Stolkin R, Hawes N, Shapiro K, Harrison TS. Experimental analysis of a variable autonomy framework for controlling a remotely operating mobile robot. In Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016). Institute of Electrical and Electronics Engineers (IEEE). 2016 Epub 2016 Dec 1. doi: 10.1109/IROS.2016.7759527

Experimental analysis of a variable autonomy framework for controlling a remotely operating mobile robot

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