TOWARDS A HUMAN-ROBOT COLLABORATIVE CONTROL FOR ADJUSTABLE AUTONOMY

This paper aims at presenting an approach gathering the concepts of human-robot collaborative control and adjustable autonomy as a way of designing resilient systems. The first part focuses on the definition of adjustable autonomy for a mobile robot. Then, resilience is presented as an objective for designing the system, and an approach integrating both adjustable autonomy and collaborative control is described. The last part of this paper is devoted to the presentation of a micro-world developed in order to test assumptions on adjustable autonomy.