@article {2018t-MasMohRobFra,
	title = {Shared Planning and Control for Mobile Robots with Integral Haptic Feedback},
	journal = {The International Journal of Robotics Research},
	volume = {37},
	year = {2018},
	month = {10/2018},
	pages = {1395-1420},
	abstract = {This paper presents a novel bilateral shared framework for online trajectory generation for mobile robots. The robot navigates along a dynamic path, represented as a B-spline, whose parameters are jointly controlled by a human supervisor and by an autonomous algorithm. The human steers the reference (ideal) path by acting on the path parameters which are also affected, at the same time, by the autonomous algorithm in order to ensure: i) collision avoidance, ii) path regularity and iii) proximity to some points of interest. These goals are achieved by combining a gradient descent-like control action with an automatic algorithm that re-initializes the traveled path (replanning) in cluttered environments in order to mitigate the effects of local minima. The control actions of both the human and the autonomous algorithm are fused via a filter that preserves a set of local geometrical properties of the path in order to ease the tracking task of the mobile robot. The bilateral component of the interaction is implemented via a force feedback that accounts for both human and autonomous control actions along the whole path, thus providing information about the mismatch between the reference and traveled path in an integral sense. The proposed framework is validated by means of realistic simulations and actual experiments deploying a quadrotor UAV supervised by a human operator acting via a force-feedback haptic interface. Finally, a user study is presented in order to validate the effectiveness of the proposed framework and the usefulness of the provided force cues.},
	keywords = {Aerial Robotics, Optimal Trajectory Planning},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018t-MasMohRobFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018t-MasMohRobFra-video1.mp4 , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018t-MasMohRobFra-video2.mp4 , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018t-MasMohRobFra-video3.mp4},
	author = {Carlo Masone and Mostafa Mohammadi and Paolo Robuffo Giordano and Antonio Franchi}
}
@conference {2012k-MasFraBueRob,
	title = {Interactive Planning of Persistent Trajectories for Human-Assisted Navigation of Mobile Robots},
	booktitle = {2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
	year = {2012},
	month = {10/2012},
	pages = {2641-2648},
	address = {Vilamoura, Portugal},
	abstract = {This work extends the framework of bilateral shared control of mobile robots with the aim of increasing the robot autonomy and decreasing the operator commitment. We consider persistent autonomous behaviors where a cyclic motion must be executed by the robot. The human operator is in charge of modifying online some geometric properties of the desired path. This is then autonomously processed by the robot in order to produce an actual path guaranteeing: i) tracking feasibility, ii) collision avoidance with obstacles, iii) closeness to the desired path set by the human operator, and iv) proximity to some points of interest. A force feedback is implemented to inform the human operator of the global deformation of the pathrather than using the classical mismatch between desired and executed motion commands. Physically-based simulations, with human/hardware-in-the-loop and a quadrotor UAV as robotic platform, demonstrate the feasibility of the method. },
	keywords = {Bilateral Shared Control of Mobile Robots, Force feedback, Haptics, Motion Planning, Optimal Trajectory Planning, Teleoperation},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012k-MasFraBueRob.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012k-MasFraBueRob.mp4},
	author = {Carlo Masone and Antonio Franchi and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@booklet {2012p-MasFraBueRob,
	title = {Shared Trajectory Planning for Human-in-the-loop Navigation of Mobile Robots in Cluttered Environments},
	howpublished = {5th Int. Work. on Human-Friendly Robotics},
	year = {2012},
	month = {10/2012},
	address = {Bruxelles, Belgium},
	keywords = {Bilateral Shared Control of Mobile Robots, Optimal Trajectory Planning},
	author = {Carlo Masone and Antonio Franchi and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@booklet {2012o-FraMasRob,
	title = {A Synergetic High-level/Reactive Planning Framework with Application to Human-Assisted Navigation},
	howpublished = {2012 IEEE IROS Work. on Real-time Motion Planning: Online, Reactive, and in Real-time},
	year = {2012},
	month = {10/2012},
	address = {Vilamoura, Portugal},
	keywords = {Bilateral Shared Control of Mobile Robots, Optimal Trajectory Planning},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012o-FraMasRob-preprint.pdf},
	author = {Antonio Franchi and Carlo Masone and Paolo Robuffo Giordano}
}
