Proceedings ArticleDOI
Ensuring safe obstacle avoidance in a shared-control system
Thomas Röfer,Axel Lankenau +1 more
- Vol. 2, pp 1405-1414
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TLDR
In this paper, the Bremen Autonomous Wheelchair project showed that common static fire strategies for ultrasonic sensors are inherently unsafe and proposed a new adaptive fire strategy which delivers a complete coverage of the environment of the robot.Citations
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BookDOI
Spatial Cognition II
TL;DR: This paper posits the usefulness of mental shifts of scale and perspective in thinking and communicating about spatial relations, and describes two experimental techniques for researching such cognitive activities.
Proceedings ArticleDOI
Experiments in adjustable autonomy
TL;DR: This work designs a human-robot system with adjustable autonomy that grants the human meta-level control over the level of robot autonomy, but allows the robot a varying amount of self-direction with each level.
Metrics for Evaluating Human-Robot Interactions
Michael A. Goodrich,Dan R. Olsen +1 more
TL;DR: Metrics for evaluating the quality of a human-robot interface are introduced and the robot attention demand metric measures how much of the user’s attention is involved with instructing a robot.
Journal ArticleDOI
Validating human-robot interaction schemes in multitasking environments
TL;DR: The notion of neglect tolerance is presented as a means for determining how robot autonomy and interface design determine how free time can be used to support multitasking, in general, and multirobot teams, in particular.
Journal ArticleDOI
A versatile and safe mobility assistant
Axel Lankenau,Thomas Röfer +1 more
TL;DR: The Bremen autonomous wheelchair implements obstacle avoidance plus driving and routing assistance in a shared-control system that solves the tasks of reliably detecting obstacles in the environment and safely avoiding these obstructions.
References
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Journal ArticleDOI
The vector field histogram-fast obstacle avoidance for mobile robots
Johann Borenstein,Yoram Koren +1 more
TL;DR: A real-time obstacle avoidance method for mobile robots which has been developed and implemented, named the vector field histogram (VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target.
Journal ArticleDOI
How in the world did we ever get into that mode? Mode error and awareness in supervisory control
Nadine B. Sarter,David D. Woods +1 more
TL;DR: The result is an expanded view of mode error that takes into account the new demands imposed by more automated systems.
Proceedings ArticleDOI
An experimental comparison of localization methods
TL;DR: This experimental study compares two methods for localization of indoor mobile robots: Markov localization, which uses a probability distribution across a grid of robot poses; and scan matching, which using Kalman filtering techniques based on matching sensor scans.
Analyzing Software Specifications for Mode Confusion Potential
TL;DR: This paper describes an approach to detecting error-prone automation features early in the development process while significant changes can still be made to the conceptual design of the system.
Journal ArticleDOI
Architecture and applications of the Bremen Autonomous Wheelchair
Th. Röfer,Axel Lankenau +1 more
TL;DR: A safe system architecture for the Bremen Autonomous Wheelchair is proposed and a hierarchy of low level application modules is presented, and a route navigation approach that provides a high level of support is described in detail.