{"id":"https://openalex.org/W3093870266","doi":"https://doi.org/10.1109/ro-man47096.2020.9223583","title":"A Shared-Autonomy Approach to Goal Detection and Navigation Control of Mobile Collaborative Robots","display_name":"A Shared-Autonomy Approach to Goal Detection and Navigation Control of Mobile Collaborative Robots","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3093870266","doi":"https://doi.org/10.1109/ro-man47096.2020.9223583","mag":"3093870266"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man47096.2020.9223583","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man47096.2020.9223583","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004299919","display_name":"Soheil Gholami","orcid":"https://orcid.org/0000-0001-5050-319X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Soheil Gholami","raw_affiliation_strings":["Human-Robot Interfaces and physical Interaction (HRI2) Lab, Istituto Italiano di Tecnologia, Genoa, Italy","NearLab, Politecnico di Milano, Milan, Italy"],"affiliations":[{"raw_affiliation_string":"Human-Robot Interfaces and physical Interaction (HRI2) Lab, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"NearLab, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012034485","display_name":"Virginia Ruiz Garate","orcid":"https://orcid.org/0000-0003-4445-5253"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Virginia Ruiz Garate","raw_affiliation_strings":["Human-Robot Interfaces and physical Interaction (HRI2) Lab, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Human-Robot Interfaces and physical Interaction (HRI2) Lab, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083795699","display_name":"Elena De Momi","orcid":"https://orcid.org/0000-0002-8819-2734"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elena De Momi","raw_affiliation_strings":["NearLab, Politecnico di Milano, Milan, Italy"],"affiliations":[{"raw_affiliation_string":"NearLab, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070028115","display_name":"Arash Ajoudani","orcid":"https://orcid.org/0000-0002-1261-737X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arash Ajoudani","raw_affiliation_strings":["Human-Robot Interfaces and physical Interaction (HRI2) Lab, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Human-Robot Interfaces and physical Interaction (HRI2) Lab, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5004299919"],"corresponding_institution_ids":["https://openalex.org/I30771326","https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":0.1214,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.43396867,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1026","last_page":"1032"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8449224233627319},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.670419454574585},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6607767343521118},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6542014479637146},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6310455799102783},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6146499514579773},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6065007448196411},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.5673322677612305},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5477551221847534},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.49995851516723633},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.49767234921455383},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.41585206985473633},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.41576266288757324},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3308667540550232},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32360613346099854},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20741313695907593},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.12096571922302246},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09017738699913025}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8449224233627319},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.670419454574585},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6607767343521118},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6542014479637146},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6310455799102783},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6146499514579773},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6065007448196411},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.5673322677612305},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5477551221847534},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.49995851516723633},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.49767234921455383},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.41585206985473633},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.41576266288757324},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3308667540550232},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32360613346099854},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20741313695907593},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.12096571922302246},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09017738699913025},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ro-man47096.2020.9223583","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man47096.2020.9223583","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1152097","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/1152097","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W89110984","https://openalex.org/W1504663295","https://openalex.org/W1560729591","https://openalex.org/W1955830134","https://openalex.org/W1967390389","https://openalex.org/W2031131345","https://openalex.org/W2044546987","https://openalex.org/W2051277853","https://openalex.org/W2070927739","https://openalex.org/W2089722339","https://openalex.org/W2091967195","https://openalex.org/W2118087838","https://openalex.org/W2322584079","https://openalex.org/W2471114721","https://openalex.org/W2482045586","https://openalex.org/W2485992890","https://openalex.org/W2566670697","https://openalex.org/W2730083658","https://openalex.org/W2739071651","https://openalex.org/W2743391672","https://openalex.org/W2902982984","https://openalex.org/W2913541242","https://openalex.org/W2922261506","https://openalex.org/W2961649484","https://openalex.org/W2962776080","https://openalex.org/W3035129945","https://openalex.org/W4206641356","https://openalex.org/W4211225190","https://openalex.org/W4252684946","https://openalex.org/W6633724138","https://openalex.org/W6756842127"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2906946336"],"abstract_inverted_index":{"Autonomous":[0],"goal":[1,92,183],"detection":[2,93],"and":[3,51,69,80,94,121,143,171,211],"navigation":[4,95],"control":[5,96,126,217],"of":[6,73,97,187,197,213],"mobile":[7,98],"robots":[8],"in":[9,34,49,184],"remote":[10],"environments":[11,54],"can":[12,32,138],"help":[13],"to":[14,24,105,117,122,140,167,193],"unload":[15],"human":[16],"operators":[17],"from":[18,58],"simple,":[19],"monotonous":[20],"tasks":[21],"allowing":[22],"them":[23],"focus":[25],"on":[26],"more":[27],"cognitively":[28],"stimulating":[29],"actions.":[30],"This":[31,84,110],"result":[33],"better":[35],"task":[36],"performances,":[37],"while":[38],"creating":[39],"user-interfaces":[40],"that":[41],"are":[42,75,190],"understandable":[43],"by":[44],"non-experts.":[45],"However,":[46],"full":[47],"autonomy":[48],"unpredictable":[50],"dynamically":[52],"changing":[53],"is":[55,111],"still":[56,76],"far":[57],"becoming":[59],"a":[60,87,129,136,181],"reality.":[61],"Thus,":[62],"teleoperated":[63],"systems":[64],"integrating":[65],"the":[66,107,124,133,145,153,162,168,173,176,185,195,198,208,214],"supervisory":[67],"role":[68],"instantaneous":[70,160],"decision-making":[71],"capacity":[72],"humans":[74],"required":[77],"for":[78,91,127,179],"fast":[79],"reliable":[81],"robotic":[82],"operations.":[83],"work":[85],"presents":[86],"novel":[88],"shared-autonomy":[89,200,216],"framework":[90,201],"manipulators.":[99],"The":[100,205],"controller":[101,163],"exploits":[102],"human-gaze":[103],"information":[104],"estimate":[106],"desired":[108],"goal.":[109],"used":[112],"together":[113],"with":[114],"control-pad":[115,134,154],"data":[116],"predict":[118],"user":[119,137],"intention,":[120],"activate":[123],"autonomous":[125,146,169],"executing":[128],"target":[130,182],"task.":[131],"Using":[132],"device,":[135],"react":[139],"unexpected":[141],"disturbances":[142],"halt":[144],"mode":[147,170],"at":[148],"any":[149],"time.":[150],"By":[151],"releasing":[152],"device":[155],"(e.g.,":[156],"after":[157],"avoiding":[158],"an":[159],"obstacle)":[161],"smoothly":[164],"switches":[165],"back":[166],"navigates":[172],"robot":[174],"towards":[175],"target.":[177],"Experiments":[178],"reaching":[180],"presence":[186],"unknown":[188],"obstacles":[189],"carried":[191],"out":[192],"evaluate":[194],"performance":[196],"proposed":[199],"over":[202],"seven":[203],"subjects.":[204],"results":[206],"prove":[207],"accuracy,":[209],"time-efficiency,":[210],"ease-of-use":[212],"presented":[215],"framework.":[218]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2020-10-29T00:00:00"}