Recursive Bayesian Human Intent Recognition in Shared-Control Robotics

• Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Vol. 2018; pp. 3905 - 3912
• Main Authors: Jain, Siddarth, Argall, Brenna
• Format: Conference Proceeding Journal Article
• Language: English
• Published: United States IEEE 01.10.2018
• Subjects: Bayes methods; Hidden Markov models; Mathematical model; Probabilistic logic; Robots; Task analysis; Uncertainty

Effective human-robot collaboration in shared control requires reasoning about the intentions of the human user. In this work, we present a mathematical formulation for human intent recognition during assistive teleoperation under shared autonomy. Our recursive Bayesian filtering approach models and...