{"id":"https://openalex.org/W4413017659","doi":"https://doi.org/10.1109/lra.2025.3596436","title":"Enhancing Shared Autonomy in Teleoperation Under Network Delay: Transparency- and Confidence-Aware Arbitration","display_name":"Enhancing Shared Autonomy in Teleoperation Under Network Delay: Transparency- and Confidence-Aware Arbitration","publication_year":2025,"publication_date":"2025-08-06","ids":{"openalex":"https://openalex.org/W4413017659","doi":"https://doi.org/10.1109/lra.2025.3596436"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3596436","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3596436","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2025.3596436","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014021091","display_name":"Ba\u015fak G\u00fcle\u00e7y\u00fcz","orcid":"https://orcid.org/0000-0001-9280-5276"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Ba\u015fak G\u00fcle\u00e7y\u00fcz","raw_affiliation_strings":["School of Computation, Information, and Technology, Department of Computer Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Media Technology, Technical University of Munich, Munich, Germany","School of Computation, Information, and Technology, Department of Computer Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Media Technology, Technical University of Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0001-9280-5276","affiliations":[{"raw_affiliation_string":"School of Computation, Information, and Technology, Department of Computer Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Media Technology, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"School of Computation, Information, and Technology, Department of Computer Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Media Technology, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071216935","display_name":"Ribin Balachandran","orcid":"https://orcid.org/0000-0002-7560-471X"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ribin Balachandran","raw_affiliation_strings":["Deutsches Zentrum für Luft- und Raumfarth (DLR), Wessling, Germany","Deutsches Zentrum für Luft- und Raumfarth, Germany"],"raw_orcid":"https://orcid.org/0000-0002-7560-471X","affiliations":[{"raw_affiliation_string":"Deutsches Zentrum für Luft- und Raumfarth (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Deutsches Zentrum für Luft- und Raumfarth, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058741030","display_name":"Michael Panzirsch","orcid":"https://orcid.org/0000-0002-0647-7147"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Panzirsch","raw_affiliation_strings":["Deutsches Zentrum für Luft- und Raumfarth (DLR), Wessling, Germany","Deutsches Zentrum für Luft- und Raumfarth, Germany"],"raw_orcid":"https://orcid.org/0000-0002-0647-7147","affiliations":[{"raw_affiliation_string":"Deutsches Zentrum für Luft- und Raumfarth (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Deutsches Zentrum für Luft- und Raumfarth, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061291919","display_name":"Harsimran Singh","orcid":"https://orcid.org/0000-0002-6735-9945"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Harsimran Singh","raw_affiliation_strings":["Deutsches Zentrum für Luft- und Raumfarth, Wessling, Germany","Deutsches Zentrum für Luft- und Raumfarth, Germany"],"raw_orcid":"https://orcid.org/0000-0002-6735-9945","affiliations":[{"raw_affiliation_string":"Deutsches Zentrum für Luft- und Raumfarth, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Deutsches Zentrum für Luft- und Raumfarth, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044949916","display_name":"Thomas Hulin","orcid":"https://orcid.org/0000-0002-3814-075X"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Hulin","raw_affiliation_strings":["Deutsches Zentrum für Luft- und Raumfarth, Wessling, Germany","Deutsches Zentrum für Luft- und Raumfarth, Germany"],"raw_orcid":"https://orcid.org/0000-0002-3814-075X","affiliations":[{"raw_affiliation_string":"Deutsches Zentrum für Luft- und Raumfarth, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Deutsches Zentrum für Luft- und Raumfarth, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101656016","display_name":"Xiao Xu","orcid":"https://orcid.org/0000-0002-4375-3884"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Xiao Xu","raw_affiliation_strings":["School of Computation, Information, and Technology, Department of Computer Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Media Technology, Technical University of Munich, Munich, Germany","School of Computation, Information, and Technology, Department of Computer Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Media Technology, Technical University of Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-4375-3884","affiliations":[{"raw_affiliation_string":"School of Computation, Information, and Technology, Department of Computer Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Media Technology, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"School of Computation, Information, and Technology, Department of Computer Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Media Technology, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077346002","display_name":"Eckehard Steinbach","orcid":"https://orcid.org/0000-0001-8853-2703"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Eckehard Steinbach","raw_affiliation_strings":["School of Computation, Information, and Technology, Department of Computer Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Media Technology, Technical University of Munich, Munich, Germany","School of Computation, Information, and Technology, Department of Computer Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Media Technology, Technical University of Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0001-8853-2703","affiliations":[{"raw_affiliation_string":"School of Computation, Information, and Technology, Department of Computer Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Media Technology, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"School of Computation, Information, and Technology, Department of Computer Engineering, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Media Technology, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6849,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73375556,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"10","issue":"10","first_page":"9654","last_page":"9661"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10714","display_name":"Software-Defined Networks and 5G","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10714","display_name":"Software-Defined Networks and 5G","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10273","display_name":"IoT and Edge/Fog Computing","score":0.9577999711036682,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12594","display_name":"Collaboration in agile enterprises","score":0.9318000078201294,"subfield":{"id":"https://openalex.org/subfields/1405","display_name":"Management of Technology and Innovation"},"field":{"id":"https://openalex.org/fields/14","display_name":"Business, Management and Accounting"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/arbitration","display_name":"Arbitration","score":0.7997119426727295},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.7886157631874084},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.7864056825637817},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.6603749394416809},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.41752195358276367},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4008467197418213},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1777970790863037},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13243898749351501},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1299355924129486},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.12287738919258118},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.07002311944961548}],"concepts":[{"id":"https://openalex.org/C160151201","wikidata":"https://www.wikidata.org/wiki/Q207946","display_name":"Arbitration","level":2,"score":0.7997119426727295},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.7886157631874084},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7864056825637817},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.6603749394416809},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.41752195358276367},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4008467197418213},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1777970790863037},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13243898749351501},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1299355924129486},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.12287738919258118},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.07002311944961548}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2025.3596436","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3596436","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:elib.dlr.de:215438","is_oa":false,"landing_page_url":"https://doi.org/10.1109/LRA.2025.3596436>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Zeitschriftenbeitrag"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1788423","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1788423","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/lra.2025.3596436","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3596436","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W146858336","https://openalex.org/W1979936342","https://openalex.org/W2105925198","https://openalex.org/W2135464393","https://openalex.org/W2157289187","https://openalex.org/W2331138946","https://openalex.org/W2563016602","https://openalex.org/W2592413607","https://openalex.org/W2750092202","https://openalex.org/W2790754119","https://openalex.org/W2801074825","https://openalex.org/W2909468150","https://openalex.org/W2912268515","https://openalex.org/W2948064301","https://openalex.org/W2960422276","https://openalex.org/W2962904308","https://openalex.org/W3011722025","https://openalex.org/W3090637565","https://openalex.org/W3135858966","https://openalex.org/W3184017725","https://openalex.org/W3188067267","https://openalex.org/W3193968166","https://openalex.org/W3195113316","https://openalex.org/W3196304306","https://openalex.org/W3205254676","https://openalex.org/W3207049974","https://openalex.org/W3207249034","https://openalex.org/W4311833479","https://openalex.org/W4312682921","https://openalex.org/W4323644271","https://openalex.org/W4386536158","https://openalex.org/W4387385728","https://openalex.org/W4389241778","https://openalex.org/W4399528595","https://openalex.org/W4401416861","https://openalex.org/W4404953829"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2793255344","https://openalex.org/W2364738582","https://openalex.org/W3123942340","https://openalex.org/W2129410355"],"abstract_inverted_index":{"Shared":[0],"autonomy":[1,27,90],"bridges":[2],"human":[3,55,65,88],"expertise":[4],"with":[5,70,103,109],"machine":[6],"intelligence,":[7],"yet":[8],"existing":[9],"approaches":[10],"often":[11],"overlook":[12],"the":[13,54,59,99,121,128],"impact":[14],"of":[15,87,98,123,130],"teleoperation":[16,135],"delays.":[17,42],"To":[18,75],"address":[19],"this":[20],"gap,":[21],"we":[22,93],"propose":[23],"a":[24,95],"novel":[25],"shared":[26],"approach":[28,132],"that":[29],"enables":[30],"robots":[31],"to":[32,40,53,62,68,133],"gradually":[33],"learn":[34],"from":[35],"teleoperated":[36],"demonstrations":[37],"while":[38],"adapting":[39],"network":[41],"Our":[43],"method":[44],"improves":[45],"intent":[46,115],"prediction":[47,116],"by":[48,83],"accounting":[49],"for":[50],"delayed":[51],"feedback":[52],"operator":[56],"and":[57,85,89,120,136],"adjusts":[58],"arbitration":[60,86],"function":[61],"balance":[63],"reduced":[64],"confidence":[66,71],"due":[67],"delay":[69,84],"in":[72,114,139],"learned":[73,125],"autonomy.":[74],"ensure":[76],"system":[77],"stability,":[78],"which":[79],"might":[80],"be":[81],"compromised":[82],"control":[91],"forces,":[92],"introduce":[94],"three-port":[96],"extension":[97],"Time-Domain":[100],"Passivity":[101],"Approach":[102],"Energy":[104],"Reflection":[105],"(TDPA-ER).":[106],"Experimental":[107],"validation":[108],"12":[110],"participants":[111],"demonstrated":[112],"improvements":[113],"accuracy,":[117],"task":[118],"performance,":[119],"quality":[122,138],"final":[124],"autonomy,":[126],"highlighting":[127],"potential":[129],"our":[131],"enhance":[134],"learning":[137],"remote":[140],"environments.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}