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Abstract
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| The goal of the work presented in this paper is to facilitate the cooperation between human operators and aerial robots to perform surface inspection missions. Our approach is based on a model of human collaborative control with a mixed initiative interaction. In the paper, we present our human-robot cooperation model based on the combination of a supervisory mode and an assistance mode with a set of interaction patterns. We developed a software system implementing this interaction model and carried out several real flight experiments that proved that this approach can be used in aerial robotics for surface inspection missions (e.g., in vision based indoor missions). Compared to a conventional tele-operated inspection system, the solution presented in this paper gives more autonomy to the aerial systems, reducing the cognitive load of the operator during the mission development. | |
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International
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Si |
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Congress
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The International Micro Air Vehicle Conference and Competition, IMAV 2017 |
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960 |
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Place
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Toulouse |
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Reviewers
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Si |
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ISBN/ISSN
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CDP08UPM |
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Start Date
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18/09/2017 |
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End Date
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22/09/2017 |
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From page
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1 |
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To page
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8 |
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IMAV Proceedings: http://www.imavs.org/category/proceedings/ |