We consider the problem of guiding a senior user along a path using a robotic walking assistant. This is a particular type of path following problem, for which most of the solutions available in the literature require an exact localisation of the robot in the environment. An accurate localisation is obtained either with a heavy infrastructure (e.g., an active sensing system deployed in the environment or deploying landmarks in known positions) or using SLAM approaches with a massive data collection. Our key observation is that the intervention of the system (and a good level of accuracy) is only required in proximity of difficult decision points, while we can rely on the user in an environment where the only possibility is just to maintain a course (e.g., a corridor). The direct implication is that we can instrument the environment with a heavy infrastructure only in certain areas. This design strategy has to be complemented by an adequate control law that shifts the authority (i.e., the control of the actuators) between the robot and the user according to the accuracy of the information available to the robot. Such a control law is exactly the contribution of this paper.
Ruling the Control Authority of a Service Robot Based on Information Precision / Magnago, Valerio; Andreetto, Marco; Divan, Stefano; Fontanelli, Daniele; Palopoli, Luigi. - ELETTRONICO. - (2018), pp. 7204-7210. ((Intervento presentato al convegno ICRA tenutosi a Brisbane, QLD, Australia nel 21-25 May 2018.
Titolo: | Ruling the Control Authority of a Service Robot Based on Information Precision |
Autori: | Magnago, Valerio; Andreetto, Marco; Divan, Stefano; Fontanelli, Daniele; Palopoli, Luigi |
Autori Unitn: | |
Titolo del volume contenente il saggio: | 2018 IEEE International Conference on Robotics and Automation (ICRA) |
Luogo di edizione: | 445 and 501 Hoes Lane Piscataway, NJ 08854-4141 USA Phone: +1 732 981 0060 |
Casa editrice: | IEEE |
Anno di pubblicazione: | 2018 |
Codice identificativo Scopus: | 2-s2.0-85063155427 |
ISBN: | 978-1-5386-3081-5 |
Handle: | http://hdl.handle.net/11572/230054 |
Citazione: | Ruling the Control Authority of a Service Robot Based on Information Precision / Magnago, Valerio; Andreetto, Marco; Divan, Stefano; Fontanelli, Daniele; Palopoli, Luigi. - ELETTRONICO. - (2018), pp. 7204-7210. ((Intervento presentato al convegno ICRA tenutosi a Brisbane, QLD, Australia nel 21-25 May 2018. |
Appare nelle tipologie: | 04.1 Saggio in atti di convegno (Paper in proceedings) |
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