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Bustamante Gomez, Samuel and Quere, Gabriel and Leidner, Daniel and Vogel, Jörn and 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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Official URL: https://ieeexplore.ieee.org/document/9811360
Abstract
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.
| Item URL in elib: | https://elib.dlr.de/186428/ | ||||||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Poster, Other) | ||||||||||||||||||||||||
| Title: | CATs: Task Planning for Shared Control of Assistive Robots with Variable Autonomy | ||||||||||||||||||||||||
| Authors: |
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| Date: | 2022 | ||||||||||||||||||||||||
| Journal or Publication Title: | 39th IEEE International Conference on Robotics and Automation, ICRA 2022 | ||||||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||||||||||
| DOI: | 10.1109/ICRA46639.2022.9811360 | ||||||||||||||||||||||||
| Publisher: | IEEE | ||||||||||||||||||||||||
| ISSN: | 1050-4729 | ||||||||||||||||||||||||
| ISBN: | 978-172819681-7 | ||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||
| Keywords: | Medical Robots and Systems; Telerobotics and Teleoperation; Task Planning | ||||||||||||||||||||||||
| Event Title: | 2022 IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||
| Event Location: | Philadelphia, USA | ||||||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||||||
| Event Start Date: | 23 May 2022 | ||||||||||||||||||||||||
| Event End Date: | 27 May 2022 | ||||||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||||||
| HGF - Program Themes: | Robotics | ||||||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Program: | R RO - Robotics | ||||||||||||||||||||||||
| DLR - Research theme (Project): | R - Intelligent Mobility (RM) [RO] | ||||||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) | ||||||||||||||||||||||||
| Deposited By: | Bustamante Gomez, Samuel | ||||||||||||||||||||||||
| Deposited On: | 16 May 2022 14:06 | ||||||||||||||||||||||||
| Last Modified: | 24 Apr 2024 20:47 |
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