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Reinforcement Learning Based User-Specific Shared Control Navigation in Crowds

Zhang, B; Holloway, C; Carlson, T; (2024) Reinforcement Learning Based User-Specific Shared Control Navigation in Crowds. In: 2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC). (pp. pp. 4387-4392). IEEE: Honolulu, Oahu, HI, USA. Green open access

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Abstract

Shared control is a mode where the user input is combined with a planned motion to achieve a common goal. In navigation, a shared control approach could provide a potential mobility solution for people who have a mobility impairment and find traditional powered wheelchairs unsuitable. While state-of-the-art work in shared control has demonstrated its capability in improving safety, human-machine interaction and reduce confusion, it is still challenging to use shared control in dynamic, crowded scenarios, in a way that is acceptable to users. Learning from recent advances in robot navigation, we present a reinforcement learning based framework, which allows navigation to be achieved in a user-specific shared controlled way. Our approach was trained and tested in a Unity3D based simulator. It achieved 33% fewer collisions, similar high user agreement (≤ 85%) and 27% less completion time when compared with our previous model-based method.

Type: Proceedings paper
Title: Reinforcement Learning Based User-Specific Shared Control Navigation in Crowds
Event: 2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)
Dates: 1 Oct 2023 - 4 Oct 2023
ISBN-13: 9798350337020
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/SMC53992.2023.10394139
Publisher version: http://dx.doi.org/10.1109/smc53992.2023.10394139
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: Human computer interaction, Navigation, Wheelchairs, Reinforcement learning, Safety, Mobile robots, Cybernetics
UCL classification: UCL
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Ortho and MSK Science
URI: https://discovery.ucl.ac.uk/id/eprint/10190666
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