LEADER 01201nam0 22002771i 450 001 UON00334999 005 20231205104235.526 100 $a20091001f |0itac50 ba 101 $apor 102 $aPT 105 $a|||| 1|||| 200 1 $aLeal conselheiro$fD. Duarte$gactualizaçao ortográfica, introduçao e notas de Joao Morais Barbosa 210 $aLisboa$cImprensa Nacional-Casa da Moeda$dstampa 1982 215 $a450 p.$d24 cm. 410 1$1001UON00172968$12001 $aBiblioteca de Autores Portugueses$1210 $aLisboa$cImprensa Nacional-Casa da Moeda 620 $aPT$dLisboa$3UONL003135 676 $a869.09358$cLetteratura portoghese. Temi storici e politici$v21 700 1$aDuarte,$cre del Portogallo$3UONV189788$0701621 702 1$aMORAIS BARBOSA$bJoao$3UONV189789 712 $aImprensa Nacional-Casa da Moeda$3UONV266231$4650 801 $aIT$bSOL$c20240220$gRICA 899 $aSIBA - SISTEMA BIBLIOTECARIO DI ATENEO$2UONSI 912 $aUON00334999 950 $aSIBA - SISTEMA BIBLIOTECARIO DI ATENEO$dSI Port III 0513 $eSI LO 24287 5 0513 996 $aLeal conselheiro$91364808 997 $aUNIOR LEADER 04119nam 22005895 450 001 9910799217203321 005 20240324200847.0 010 $a9783031479342 010 $a3031479343 024 7 $a10.1007/978-3-031-47934-2 035 $a(CKB)29476479400041 035 $a(MiAaPQ)EBC31046408 035 $a(Au-PeEL)EBL31046408 035 $a(DE-He213)978-3-031-47934-2 035 $a(OCoLC)1416700781 035 $a(EXLCZ)9929476479400041 100 $a20231228d2024 u| 0 101 0 $aeng 135 $aur||||||||||| 181 $ctxt$2rdacontent 182 $cc$2rdamedia 183 $acr$2rdacarrier 200 12$aA Stable and Transparent Framework for Adaptive Shared Control of Robots /$fby Ribin Balachandran 205 $a1st ed. 2024. 210 1$aCham :$cSpringer Nature Switzerland :$cImprint: Springer,$d2024. 215 $a1 online resource (198 pages) 225 1 $aSpringer Tracts in Advanced Robotics,$x1610-742X ;$v158 311 08$a9783031479335 327 $a1. Introduction -- 2. Fundamentals -- 3. Transparency Enhancement in Teleoperation -- 4. Multi-Agent Adaptive Shared Control -- 5. Stable and Transparent Shared Control Framework. 330 $aRobotic research and developments in computing technologies including artificial intelligence have led to significant improvements in autonomous capabilities of robots. Yet, human supervision is advisable and, in many cases, necessary when robots interact with real-world, outside-lab environments. This is due to the fact that complete autonomy in robots has not yet been achieved. When robots encounter challenges beyond their capabilities, a viable solution is to include human operators in the loop, who can support robots through teleoperation, taking complete control or shared control. This monograph focuses on a special form of shared control, namely mixed-initiative, where the final command to the robot is a weighted sum of the commands from the operator and the autonomous controller. The weights (fixed or adaptive), called authority allocation (AA) factors, decide who has more control authority over the robot. Several research groups use different methods to adapt the AAfactors online and the benefits of adaptive mixed-initiative shared control have been well established in terms of task completion success and operator usability. However, stability of the overall shared control framework, with communication time-delays between the operator and the robot, is a field that has not been examined extensively. This monograph presents methods to improve performance and stability in shared control so that the possibilities of its applications can be widened. Firstly, methods to improve the haptic feedback performance of teleoperation are developed. Secondly, methods to stabilize adaptive shared control systems, while still ensuring high teleoperation performance, are proposed. The methods are validated on multiple robotic systems and they were applied in several projects, both in space and terrestrial domains. With the aforementioned contributions, this monograph provides an overarching framework to improve synergy between humans and robots.The flexibility of the framework allows integration of existent teleoperation and shared control approaches, which further promotes synergy within the robotics community. 410 0$aSpringer Tracts in Advanced Robotics,$x1610-742X ;$v158 606 $aAutomatic control 606 $aRobotics 606 $aAutomation 606 $aControl, Robotics, Automation 606 $aAutomation 606 $aControl and Systems Theory 615 0$aAutomatic control. 615 0$aRobotics. 615 0$aAutomation. 615 14$aControl, Robotics, Automation. 615 24$aAutomation. 615 24$aControl and Systems Theory. 676 $a629.8 700 $aBalachandran$b Ribin$01586293 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910799217203321 996 $aA Stable and Transparent Framework for Adaptive Shared Control of Robots$93872636 997 $aUNINA