相关论文: Adaptive driver-automation shared steering control…

Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…

This study presents a novel approach for modeling and simulating human-vehicle interactions in order to examine the effects of automated driving systems (ADS) on driving performance and driver control workload. Existing driver-ADS…

Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the…

This paper addresses the shared lateral control for both lane-keeping and obstacle avoidance tasks of a driver steering assist system (DSAS). In this work, we propose a novel approach to deal with the interactions between the human (driver)…

Feedforward steering control is a key component of hierarchical control architectures for autonomous racing. The goal is to reduce steering corrections from the feedback controllers by predicting the vehicle's inverse lateral dynamics. This…

Steering models (such as the generalized two-point model) predict human steering behavior well when the human is in direct control of a vehicle. In vehicles under autonomous control, human control inputs are not used; rather, an autonomous…

Manufacturing requires consistent production rate and task success for sustainable operation. Some manufacturing tasks require a semi-autonomous approach, exploiting the combination of human adaptability and machine precision and speed, to…

With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…

Advanced driver assistance systems have successfully reduced drivers' workloads and increased safety. On the other hand, the excessive use of such systems can impede the development of driving skills. However, there exist collaborative…

Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…

In conditional automation, a response from the driver is expected when a take over request is issued due to unexpected events, emergencies, or reaching the operational design domain boundaries. Cooperation between the automated driving…

Mobile telepresence robots (MTRs) have become increasingly popular in the expanding world of remote work, providing new avenues for people to actively participate in activities at a distance. However, humans operating MTRs often have…

Automated vehicles are pictured as the future of transportation, and facilitating safer driving is only one of the many benefits. However, due to the constantly changing role of the human driver, users are easily confused and have little…

This study introduces a haptic shared control framework designed to teach human drivers advanced driving skills. In this context, shared control refers to a driving mode where the human driver collaborates with an autonomous driving system…

Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…

Clinical myoelectric prostheses lack the sensory feedback and sufficient dexterity required to complete activities of daily living efficiently and accurately. Providing haptic feedback of relevant environmental cues to the user or imbuing…

Automatic emergency steering maneuvers can be used to avoid more obstacles than emergency braking alone. While a steer-by-wire system can decouple the driver who might act as a disturbance during the emergency steering maneuver, the…

We present a work-in-progress approach to improving driver attentiveness in cars provided with automated driving systems. The approach is based on a control loop that monitors the driver's biometrics (eye movement, heart rate, etc.) and the…

Shared control allows the human driver to collaborate with an assistive driving system while retaining the ability to make decisions and take control if necessary. However, human-vehicle teaming and planning are challenging due to…

The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…