Human-assisted navigation through sliding autonomy

This paper describes the application of sliding autonomy to the robot navigation task such that the humanrobot team can accomplish the mission under many new or unexpected situations. Our approach extends the traditional sliding autonomy by including a new mode that support human-robot peer-to-peer collaboration. We validated our approach on physical robots through a simplified search and rescue task, and demonstrated that the human-robot team's overall performance can be improved under the sliding autonomy control.