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Full-Text Articles in Computer Engineering
Toward A Framework For Levels Of Robot Autonomy In Human-Robot Interaction, Jenay Beer, A. D. Fisk, W. A. Rogers
Toward A Framework For Levels Of Robot Autonomy In Human-Robot Interaction, Jenay Beer, A. D. Fisk, W. A. Rogers
Faculty Publications
Autonomy is a critical construct related to human-robot interaction (HRI) and varies widely across robot platforms. Levels of robot autonomy (LORA), ranging from teleoperation to fully autonomous systems, influence the way in which humans and robots interact with one another. Thus, there is a need to understand HRI by identifying variables that influence—and are influenced by—robot autonomy. Our overarching goal is to develop a framework for LORA in HRI. To reach this goal, our framework draws links between HRI and human-automation interaction, a field with a long history of studying and understanding human-related variables. The construct of autonomy is reviewed …
Localization With Limited Sensing, Jason M. O'Kane, Steven M. Lavalle
Localization With Limited Sensing, Jason M. O'Kane, Steven M. Lavalle
Faculty Publications
Localization is a fundamental problem for many kinds of mobile robots. Sensor systems of varying ability have been proposed and successfully used to solve the problem. This paper probes the lower limits of this range by describing three extremely simple robot models and addresses the active localization problem for each. The robot, whose configuration is composed of its position and orientation, moves in a fully-known, simply connected polygonal environment. We pose the localization task as a planning problem in the robot's information space, which encapsulates the uncertainty in the robot's configuration. We consider robots equipped with: 1) angular and linear …