Browse Publications Technical Papers 2020-01-1031
2020-04-14

Negotiating the Steering Control Authority within Haptic Shared Control Framework 2020-01-1031

Communication and cooperation among team members can be enhanced significantly with physical interaction. Successful collaboration requires the integration of the individual partners' intentions into a shared action plan, which may involve a continuous negotiation of intentions and roles. This project aims to explore the underlying process of intention integration and develop models for consensus reaching in a haptic shared control framework. We pay particular attention to the role of impedance modulation as a mechanism for negotiation of intentions across the physical or haptic channel. We present an optimal control-based methodology for an automation system to modulate its impedance to either gain or yield the authority to the human driver.

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