2020
Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters
Ribin Balachandran, Hrishik Mishra, Matteo Cappelli, Bernhard Weber, Cristian Secchi, Christian Ott +1
ICRA 2020poster
In the present paper, we propose a novel system-driven adaptive shared control framework in which the autonomous system allocates the authority among the human operator and itself. Authority allocation is based on a metric derived from a Bayesian filter, which is being adapted online according to re…