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Katherine J. Mimnaugh

3 accepted papers

2022

HI-DWA: Human-Influenced Dynamic Window Approach for Shared Control of a Telepresence Robot

Juho Kalliokoski, Basak Sakcak, Markku Suomalainen, Katherine J. Mimnaugh, Alexis P. Chambers, Timo Ojala +1
IROS 2022poster

This paper considers the problem of enabling the user to modify the path of a telepresence robot. The robot is capable of autonomously navigating to a goal predefined by the user, but the user might still want to modify the path, for example, to go further away from other people, or to go closer to…

Cited by 3Source ↗Scholar ↗
2021

Analysis of User Preferences for Robot Motions in Immersive Telepresence

Katherine J. Mimnaugh, Markku Suomalainen, Israel Becerra, Eliezer Lozano, Rafael Murrieta-Cid, Steven M. LaValle
IROS 2021poster

This paper considers how the motions of a telepresence robot moving autonomously affect a person immersed in the robot through a head-mounted display. In particular, we explore the preference, comfort, and naturalness of elements of piecewise linear paths compared to the same elements on a smooth pa…

Cited by 10Source ↗Scholar ↗
2020

Human Perception-Optimized Planning for Comfortable VR-Based Telepresence

Israel Becerra, Markku Suomalainen, Eliezer Lozano, Katherine J. Mimnaugh, Rafael Murrieta-Cid, Steven M. LaValle
RA-L 2020

This letter introduces an emerging motion planning problem by considering a human that is immersed into the viewing perspective of a remote robot. The challenge is to make the experience both effective (such as delivering a sense of presence), and comfortable (such as avoiding adverse sickness sympt

Cited by 21Source ↗Scholar ↗