ausblenden:
Schlagwörter:
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Zusammenfassung:
In this work we present a novel framework for the
systematic integration of high-level/mission schedulers, middlelevel/cognitive-enabled online-planners and low-level/reactive trajectory modifiers. The approach does not rely on a particular parametrization of the trajectory and assumes a basic environment representation. As an application, the online capabilities of the method can be used to let a mobile robot cooperate with a human taking the role of the middle-level planner. In that case
we also describe a rigorous way to bilaterally couple the human and the reactive planner in order to provide an immersive haptic feeling of the planner state. Hardware/Human in-the-loop simulations, with a quadrotor UAV used as robotic platform and a real haptic instrument, are provided as validating showcase of the presented theoretical framework.
