{"id":"https://openalex.org/W2900785396","doi":"https://doi.org/10.1109/ssrr.2019.8848977","title":"A Blended Human-Robot Shared Control Framework to Handle Drift and Latency","display_name":"A Blended Human-Robot Shared Control Framework to Handle Drift and Latency","publication_year":2019,"publication_date":"2019-09-01","ids":{"openalex":"https://openalex.org/W2900785396","doi":"https://doi.org/10.1109/ssrr.2019.8848977","mag":"2900785396"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2019.8848977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2019.8848977","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1811.09382","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027012821","display_name":"Anas Abou Allaban","orcid":"https://orcid.org/0000-0002-5240-1792"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anas Abou Allaban","raw_affiliation_strings":["Department of Electrical & Computer Engineering, Northeastern University, Boston, MA","Northeastern University, Boston, MA, 02215"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, Northeastern University, Boston, MA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University, Boston, MA, 02215","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016682778","display_name":"Velin Dimitrov","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Velin Dimitrov","raw_affiliation_strings":["Department of Electrical & Computer Engineering, Northeastern University, Boston, MA","Northeastern University, Boston, MA, 02215"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, Northeastern University, Boston, MA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University, Boston, MA, 02215","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009032681","display_name":"Ta\u015fk\u0131n Pad\u0131r","orcid":"https://orcid.org/0000-0001-5123-5801"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Taskin Padir","raw_affiliation_strings":["Northeastern University, Boston, MA, 02215"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University, Boston, MA, 02215","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I12912129"],"apc_list":null,"apc_paid":null,"fwci":0.7676,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.74046407,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"4","issue":null,"first_page":"81","last_page":"87"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9955000281333923,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.994700014591217,"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/latency","display_name":"Latency (audio)","score":0.7007128000259399},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6657091975212097},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6188364028930664},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.6063220500946045},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5881263017654419},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5618276596069336},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5603898763656616},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4212407171726227},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4034520983695984},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.38901758193969727},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34734034538269043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30757877230644226},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27663230895996094},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1672345995903015},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09682244062423706},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07826000452041626}],"concepts":[{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.7007128000259399},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6657091975212097},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6188364028930664},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.6063220500946045},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5881263017654419},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5618276596069336},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5603898763656616},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4212407171726227},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4034520983695984},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.38901758193969727},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34734034538269043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30757877230644226},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27663230895996094},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1672345995903015},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09682244062423706},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07826000452041626},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/ssrr.2019.8848977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2019.8848977","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1811.09382","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1811.09382","pdf_url":"https://arxiv.org/pdf/1811.09382","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"mag:2900785396","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1811.09382","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1811.09382","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1811.09382","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1811.09382","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1811.09382","pdf_url":"https://arxiv.org/pdf/1811.09382","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.7599999904632568}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306084","display_name":"U.S. Department of Energy","ror":"https://ror.org/01bj3aw27"},{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2900785396.pdf","grobid_xml":"https://content.openalex.org/works/W2900785396.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1512171383","https://openalex.org/W1763775273","https://openalex.org/W1964918420","https://openalex.org/W1970564632","https://openalex.org/W1981048805","https://openalex.org/W1994021712","https://openalex.org/W2011024242","https://openalex.org/W2044427317","https://openalex.org/W2051164057","https://openalex.org/W2064779083","https://openalex.org/W2071661870","https://openalex.org/W2098846072","https://openalex.org/W2107143741","https://openalex.org/W2113972270","https://openalex.org/W2117211893","https://openalex.org/W2122219027","https://openalex.org/W2124765345","https://openalex.org/W2145157203","https://openalex.org/W2483674195","https://openalex.org/W2580891082","https://openalex.org/W2790115682","https://openalex.org/W2901136733","https://openalex.org/W2909776290","https://openalex.org/W2962776080","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2974977509","https://openalex.org/W2127213608","https://openalex.org/W756091146","https://openalex.org/W87502638","https://openalex.org/W2088694444","https://openalex.org/W3111636802","https://openalex.org/W3100092097","https://openalex.org/W3047025538","https://openalex.org/W1970830575","https://openalex.org/W3103917164","https://openalex.org/W1826663974","https://openalex.org/W3161599544","https://openalex.org/W3080622745","https://openalex.org/W2467546985","https://openalex.org/W2551767565","https://openalex.org/W2081830774","https://openalex.org/W3127528930","https://openalex.org/W2913639759","https://openalex.org/W2938424316","https://openalex.org/W2053870186"],"abstract_inverted_index":{"Maximizing":[0],"the":[1,26,31,34,40,51,60,66,80,109,123,171,175,182,192,201],"utility":[2],"of":[3,30,39,111,194,198],"human-robot":[4],"teams":[5],"in":[6,36,69,82,126,162],"disaster":[7],"response":[8],"and":[9,11,33,63,85,101,121,139,156,174,187,204],"search":[10],"rescue":[12,102],"(SAR)":[13],"missions":[14],"remains":[15],"to":[16,25,117,169],"be":[17],"a":[18,131,148,158,195],"challenging":[19],"problem.":[20],"This":[21],"is":[22,79],"mainly":[23],"due":[24],"dynamic,":[27],"uncertain":[28],"nature":[29],"environment":[32],"variability":[35],"cognitive":[37],"performance":[38,57,125,190],"human":[41,83,172,202],"operators.":[42],"By":[43],"having":[44],"an":[45],"autonomous":[46,176,205],"agent":[47],"share":[48],"control":[49,114,154,199],"with":[50,98,130],"operator,":[52],"we":[53,107],"can":[54,93],"achieve":[55],"near-optimal":[56],"by":[58,88,142],"augmenting":[59],"operator's":[61],"input":[62,84,137],"compensate":[64],"for":[65,152],"factors":[67],"resulting":[68],"degraded":[70],"performance.":[71],"What":[72],"this":[73,105],"solution":[74],"does":[75],"not":[76],"consider":[77],"though":[78],"latency":[81,138],"errors":[86],"caused":[87,141],"potential":[89],"hardware":[90],"failures":[91],"that":[92,135,166,181],"occur":[94],"during":[95],"task":[96],"completion":[97],"safety,":[99],"security":[100],"robots.":[103],"In":[104],"paper,":[106],"propose":[108],"use":[110],"blended":[112],"shared":[113],"(BSC)":[115],"architecture":[116,155,184],"address":[118],"these":[119],"issues":[120],"investigate":[122],"architecture's":[124],"constrained,":[127],"dynamic":[128],"environments":[129,165],"differential":[132],"drive":[133],"robot":[134],"has":[136],"drift":[140],"erroneous":[143],"odometry":[144],"feedback.":[145],"We":[146],"conduct":[147],"validation":[149],"study":[150,160],"(n=12)":[151],"our":[153],"then":[157],"user":[159],"(n=14)":[161],"2":[163],"different":[164],"are":[167],"unknown":[168],"both":[170],"operator":[173,203],"agent.":[177,206],"The":[178],"results":[179],"demonstrate":[180],"BSC":[183],"prevents":[185],"collisions":[186],"enhance":[188],"team":[189],"without":[191],"need":[193],"complete":[196],"transfer":[197],"between":[200]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}