An Intention Guided Hierarchical Framework for Trajectory-based Teleoperation of Mobile Robots
Xuning Yang Jasmine Cheng Nathan Michael Xuning Yang Jasmine Cheng Nathan Michael
In human-in-the-loop navigation, the operator’s intention is to locally avoid obstacles while planning long-horizon paths in order to complete the navigation task. We propose a hierarchical teleoperation framework that captures these characteristics of intention, and generates trajectories that are locally safe and follow the operator’s global plan. The hierarchical teleoperation framework consist...