University of Oulu

J. Kalliokoski et al., "HI-DWA: Human-Influenced Dynamic Window Approach for Shared Control of a Telepresence Robot," 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 7696-7703, doi: 10.1109/IROS47612.2022.9981367

HI-DWA : human-influenced dynamic window approach for shared control of a telepresence robot

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Author: Kalliokoski, Juho1; Sakcak, Basak1; Suomalainen, Markku1;
Organizations: 1Center of Ubiquitous Computing, Faculty of Information Technology and Electrical Engineering, University of Oulu, Finland
Format: article
Version: accepted version
Access: open
Online Access: PDF Full Text (PDF, 2.8 MB)
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Language: English
Published: Institute of Electrical and Electronics Engineers, 2022
Publish Date: 2023-03-23


This paper considers the problem of enabling the user to modify the path of a telepresence robot. The robot is capable of autonomously navigating to a goal predefined by the user, but the user might still want to modify the path, for example, to go further away from other people, or to go closer to landmarks she wants to see on the way. We propose Human-Influenced Dynamic Window Approach (HI-DWA), a shared control method aimed for telepresence robots based on Dynamic Window Approach (DWA) that allows the user to influence the control input given to the robot. To verify the proposed method, we performed a user study (N=32) in Virtual Reality (VR) to compare HI-DWA with switching between autonomous navigation and manual control for controlling a simulated telepresence robot moving in a virtual environment. Results showed that users reached their goal faster using HI-DWA controller and found it easier to use. Preference between the two methods was split equally. Qualitative analysis revealed that a major reason for the participants that preferred switching between two modes was the feeling of control. We also analyzed the effect of different input methods, joystick and gesture, on the preference and perceived workload.

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Series: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
ISSN: 2153-0858
ISSN-E: 2153-0866
ISSN-L: 2153-0858
ISBN: 978-1-6654-7927-1
ISBN Print: 978-1-6654-7928-8
Pages: 7696 - 7703
DOI: 10.1109/IROS47612.2022.9981367
Host publication: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference: IEEE/RSJ International Conference on Intelligent Robots and Systems
Type of Publication: A4 Article in conference proceedings
Field of Science: 113 Computer and information sciences
Funding: This work was supported by a European Research Council Advanced Grant (ERC AdG, ILLUSIVE: Foundations of Perception Engineering, 101020977), Academy of Finland (projects PERCEPT 322637, CHiMP 342556), and Business Finland (project HUMOR 3656/31/2019).
EU Grant Number: (101020977) ILLUSIVE - Foundations of Perception Engineering
Academy of Finland Grant Number: 322637
Detailed Information: 322637 (Academy of Finland Funding decision)
342556 (Academy of Finland Funding decision)
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