Sharing Control with a Robotic Ball: About continuous sharing of control between two agents
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2013-08-22
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en
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Abstract
This research investigates the possibilities of a system for shared control suggested
by Poncela and others in 2009 [22]. They propose to continuously share control between two agents by weighting their motion commands with the locally computed
efficiencies of those motion commands. From earlier literature, four important
properties for shared control are extracted. The system for shared control presented
here supports three of those properties: it supports the different capabilities of the
agents, adjusts to the performance of the agents and creates a seamless integration
of the motion commands.
To explore these properties an experiment is conducted with a robotic ball
called Sphero. This proves to be a simple and low-cost environment for research
on shared control in path navigation. In the conducted experiment the system
decreases the length of a path, driven with the robotic ball Sphero, with 29.6% (p <
0.001), the duration of a path with 20.0% (p < 0.05) and increases the efficiencies
of the actual given command with 11.4% (p < 0.001). These results indicate that
this system is indeed capable of increasing the performance of a human agent by
sharing control with an intelligent system.
Keywords: shared control, shared autonomy, Sphero, autonomous robot, human
operator.
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Faculteit der Sociale Wetenschappen