Complementing Haptic Shared Control With Visual Feedback for Obstacle Avoidance

Shared Control with Flexible Obstacle Avoidance for Manipulator

Rover Visual Obstacle Avoidance

The Stanford AI Lab cart is a remotely controlled TV equipped mobile robot. A computer program has driven the cart through cluttered spaces, gaining its knowledge of the world entirely from images broadcast by the onboard TV system. The cart uses several kinds of stereo to locate objects around it in 3D and to deduce its own motion. It plans an obstacle avoiding path to a desired destination on...

Ensuring Safe Obstacle Avoidance in a Shared-Control System

{ This paper describes the Bremen Autonomous Wheelchair project. It shows that common static re strategies for ultrasonic sensors are inherently unsafe and proposes a new adaptive re strategy which delivers a complete coverage of the environment of the robot. Furthermore, a new obstacle avoidance approach for shared-control robotics systems is described in detail.

Towards Automatic Visual Obstacle Avoidance

Hans P. Morevec, Stanford University This report describes ongoing research on a working system which drives a vehicle through cluttered environments under computer control, guided by images perceived through an onboard tv camera. The emphasis is on reliable and fast low level visual techniques which determine the existence and location of objects in the world, but do not identify them. Include...

Safe Formation Control with Obstacle Avoidance

In this paper, we consider the general problem of guaranteeing safe interaction of humans and a group of mobile agents in an environment of interest. The way that we guarantee such a safe interaction is via proposing algorithms that prevent the agents from colliding with environmental obstacles with unknown sizes and locations, e.g. human operators. To do so, we first consider the problem of fo...