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Bustamante Gomez, Samuel und Quere, Gabriel und Leidner, Daniel und Vogel, Jörn und Stulp, Freek (2022) CATs: Task Planning for Shared Control of Assistive Robots with Variable Autonomy. In: 39th IEEE International Conference on Robotics and Automation, ICRA 2022. IEEE. 2022 IEEE International Conference on Robotics and Automation (ICRA), 2022-05-23 - 2022-05-27, Philadelphia, USA. doi: 10.1109/ICRA46639.2022.9811360. ISBN 978-172819681-7. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/document/9811360
Kurzfassung
Abstract: From robotic space assistance to healthcare robotics, there is increasing interest in robots that offer adaptable levels of autonomy. In this paper, we propose an action representation and planning framework that is able to generate plans that can be executed with both shared control and supervised autonomy, even switching between them during task execution. The action representation -- Constraint Action Templates (CATs) -- combine the advantages of Action Templates (Leidner, 2019) and Shared Control Templates (Quere, 2020). We demonstrate that CATs enable our planning framework to generate goal-directed plans for variations of a typical task of daily living, and that users can execute them on the wheelchair-robot EDAN in shared control or in autonomous mode.
| elib-URL des Eintrags: | https://elib.dlr.de/186428/ | ||||||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Poster, Anderer) | ||||||||||||||||||||||||
| Titel: | CATs: Task Planning for Shared Control of Assistive Robots with Variable Autonomy | ||||||||||||||||||||||||
| Autoren: |
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| Datum: | 2022 | ||||||||||||||||||||||||
| Erschienen in: | 39th IEEE International Conference on Robotics and Automation, ICRA 2022 | ||||||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||||||
| Open Access: | Ja | ||||||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||||||||||
| DOI: | 10.1109/ICRA46639.2022.9811360 | ||||||||||||||||||||||||
| Verlag: | IEEE | ||||||||||||||||||||||||
| ISSN: | 1050-4729 | ||||||||||||||||||||||||
| ISBN: | 978-172819681-7 | ||||||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||||||
| Stichwörter: | Medical Robots and Systems; Telerobotics and Teleoperation; Task Planning | ||||||||||||||||||||||||
| Veranstaltungstitel: | 2022 IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||
| Veranstaltungsort: | Philadelphia, USA | ||||||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
| Veranstaltungsbeginn: | 23 Mai 2022 | ||||||||||||||||||||||||
| Veranstaltungsende: | 27 Mai 2022 | ||||||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
| HGF - Programmthema: | Robotik | ||||||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Intelligente Mobilität (RM) [RO] | ||||||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||
| Hinterlegt von: | Bustamante Gomez, Samuel | ||||||||||||||||||||||||
| Hinterlegt am: | 16 Mai 2022 14:06 | ||||||||||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:47 |
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