Salvato in:
| Autori principali: | , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2025
|
| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2503.14389 |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866909541422071808 |
|---|---|
| author | Číhala, Valentýn Pecka, Martin Svoboda, Tomáš Zimmermann, Karel |
| author_facet | Číhala, Valentýn Pecka, Martin Svoboda, Tomáš Zimmermann, Karel |
| contents | We investigated the performance of existing semi- and fully autonomous methods for controlling flipper-based skid-steer robots. Our study involves reimplementation of these methods for fair comparison and it introduces a novel semi-autonomous control policy that provides a compelling trade-off among current state-of-the-art approaches. We also propose new metrics for assessing cognitive load and traversal quality and offer a benchmarking interface for generating Quality-Load graphs from recorded data. Our results, presented in a 2D Quality-Load space, demonstrate that the new control policy effectively bridges the gap between autonomous and manual control methods. Additionally, we reveal a surprising fact that fully manual, continuous control of all six degrees of freedom remains highly effective when performed by an experienced operator on a well-designed analog controller from third person view. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_14389 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Manual, Semi or Fully Autonomous Flipper Control? A Framework for Fair Comparison Číhala, Valentýn Pecka, Martin Svoboda, Tomáš Zimmermann, Karel Robotics We investigated the performance of existing semi- and fully autonomous methods for controlling flipper-based skid-steer robots. Our study involves reimplementation of these methods for fair comparison and it introduces a novel semi-autonomous control policy that provides a compelling trade-off among current state-of-the-art approaches. We also propose new metrics for assessing cognitive load and traversal quality and offer a benchmarking interface for generating Quality-Load graphs from recorded data. Our results, presented in a 2D Quality-Load space, demonstrate that the new control policy effectively bridges the gap between autonomous and manual control methods. Additionally, we reveal a surprising fact that fully manual, continuous control of all six degrees of freedom remains highly effective when performed by an experienced operator on a well-designed analog controller from third person view. |
| title | Manual, Semi or Fully Autonomous Flipper Control? A Framework for Fair Comparison |
| topic | Robotics |
| url | https://arxiv.org/abs/2503.14389 |