Title:
Blended Shared Control of Zermelo's Navigation Problem
Blended Shared Control of Zermelo's Navigation Problem
| dc.contributor.author | Enes, Aaron R. | en_US |
| dc.contributor.author | Book, Wayne J. | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Mechanical Engineering | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2011-05-20T20:20:43Z | |
| dc.date.available | 2011-05-20T20:20:43Z | |
| dc.date.issued | 2010 | |
| dc.description | ©2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | Presented at the 2010 American Control Conference Marriott Waterfront, Baltimore, MD, USA June 30-July 02, 2010. | en_US |
| dc.description.abstract | Many machines–from hydraulic excavators to mobile wheelchairs–are manually controlled by a human operator. In practice, the operator assumes responsibility for completing a given task at maximum utility, even though the optimal inputs may be unknown to the operator. Here we introduce a simple technique termed Blended Shared Control, whereby the human operator commands are continually merged with the commands of a robotic agent. This approach is shown to result in a lower task completion time than manual control alone when applied to a problem motivated by Zermelo’s navigation problem. Experimental results are presented to compare blended shared control to other types of controllers including manual control, heads up display, and haptic feedback. Trials indicate that the shared control does in fact decrease task completion time when compared to fully manual operation. | en_US |
| dc.identifier.citation | Aaron Enes , and Wayne Book, "Blended Shared Control of Zermelo's Navigation Problem ," Proceedings of the American Control Conference (ACC), June 30 2010-July 2 2010, 4304-4312. | en_US |
| dc.identifier.isbn | 978-1-4244-7426-4 | |
| dc.identifier.issn | 0743-1619 | |
| dc.identifier.uri | http://hdl.handle.net/1853/38937 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | en_US |
| dc.subject | Shared control | en_US |
| dc.subject | Haptics | en_US |
| dc.subject | Minimum time control | en_US |
| dc.title | Blended Shared Control of Zermelo's Navigation Problem | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dc.type.genre | Post-print | |
| dspace.entity.type | Publication | |
| local.contributor.author | Book, Wayne J. | |
| local.contributor.corporatename | George W. Woodruff School of Mechanical Engineering | |
| local.contributor.corporatename | College of Engineering | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| relation.isAuthorOfPublication | 45966a3c-59ea-44fc-980a-96d543c035f0 | |
| relation.isOrgUnitOfPublication | c01ff908-c25f-439b-bf10-a074ed886bb7 | |
| relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
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