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A Synergetic High-level/Reactive Planning Framework with Application to Human-Assisted Navigation

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http://pubman.mpdl.mpg.de/cone/persons/resource/persons83915

Franchi,  A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons84078

Masone,  C
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons84174

Robuffo Giordano,  P
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

Franchi, A., Masone, C., & Robuffo Giordano, P. (2012). A Synergetic High-level/Reactive Planning Framework with Application to Human-Assisted Navigation. In 2012 IEEE IROS Workshop on Robot Motion Planning: Online, Reactive, and in Real-time (pp. 15-20).


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-B5B6-6
Abstract
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.