Mixed Initiative Control of Autonomous Vehicles

— In this paper we propose a systematic way of incorporating human inputs in navigation plans. The proposed controller is based on a new class of navigation function based controllers that posses weak Input-to-State stability properties. The resulting system has analytically guaranteed safety and convergence properties. The feasibility of the proposed methodology is demonstrated through simulation examples and hardware experiments.

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: Savvas G. Loizou, Vijay Kumar
• Keywords: Function Based Controllers, ICRA 2007, Navigation Plans, Robotics, Weak Input-to-state Stability