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Proceedings Paper

Safeguarding autonomy through intelligent shared control
Author(s): Jared Giesbrecht; Ho-Kong Ng; Mingfeng Zhang; John Tang; Michel Bondy; Piotr Jasiobedzki
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Paper Abstract

This paper overviews the development and operator testing of a shared autonomy system for small unmanned ground vehicles operating in indoor environments. The project focused on creating driving assistance technologies to reduce the burden of performing low-level tasks when operating in cluttered or difficult areas by sharing control between the operator and the autonomous software. The system also provides a safety layer to prevent the robot from becoming disabled due to operator error or environmental hazards. Examples of developed behaviours include obstacle proximity warning, centering the vehicle through narrow doorways, wall following during long traversals, tip-over indicator, stair climbing aid, and retreat from communications loss. The hardware and software were integrated on a QinetiQ Talon IV robot and tested by military operators in a relevant environment.

Paper Details

Date Published: 5 May 2017
PDF: 15 pages
Proc. SPIE 10195, Unmanned Systems Technology XIX, 101950V (5 May 2017); doi: 10.1117/12.2262025
Show Author Affiliations
Jared Giesbrecht, Defence Research and Development Canada (Canada)
Ho-Kong Ng, MacDonald Dettwiler and Associates Inc. (Canada)
Mingfeng Zhang, MacDonald Dettwiler and Associates Inc. (Canada)
John Tang, MacDonald Dettwiler and Associates Inc. (Canada)
Michel Bondy, MacDonald Dettwiler and Associates Inc. (Canada)
Piotr Jasiobedzki, MacDonald Dettwiler and Associates Inc. (Canada)


Published in SPIE Proceedings Vol. 10195:
Unmanned Systems Technology XIX
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Hoa G. Nguyen, Editor(s)

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