Haptic shared control: smoothly shifting control authority?

Simulation of the Admittance Control Based Haptic Interface Device

Shared Control between Human and Machine: Haptic Display of Automation during Manual Control of Vehicle Heading

In this paper, a paradigm for shared control is described in which a machine’s manual control interface is motorized to allow a human and an automatic controller to simultaneously exert control. The manual interface becomes a haptic display, relaying information to the human about the intentions of the automatic controller while retaining its role as a manual control interface. The human may ex...

Bayesian Optimal Control of Smoothly Parameterized Systems

We study Bayesian optimal control of a general class of smoothly parameterized Markov decision problems (MDPs). We propose a lazy version of the so-called posterior sampling method, a method that goes back to Thompson and Strens, more recently studied by Osband, Russo and van Roy. While Osband et al. derived a bound on the (Bayesian) regret of this method for undiscounted total cost episodic, f...

Limited Authority Adaptive Flight Control

There were also many important (and enjoyable) discussions with co-workers at Georgia Tech that were essential for completing this work, including Hesham El-Scotte Hodel of Auburn, and John Kaneshige of NASA ARC. Finally, I want to thank my extraordinary wife Amy for all of her help and inspiration. She makes it all worthwhile.

Generalized Shared Control versus Classical Shared Control: Illustrative Examples

Figure 1: The autonomy (black solid lines) can take 2 possible routes through the obstacle field (thus displaying multimodality), both of which have nearly the same safety and efficiency. The operator model (red dashed lines) indicates two potential paths forward (such multimodality might arise as a result of unreliable communications, a multitasking operator, or a startled operator). Linear bl...