Simon Manschitz and Dirk Ruiken, "Shared Autonomy for Intuitive Teleoperation", ICRA Workshop: Shared Autonomy in Physical Human-Robot Interaction: Adaptability and Trust, 2022.

Shared autonomy can be a means for combining the strengths and alleviating the weaknesses of two heterogeneous agents. In a teleoperation system with shared autonomy, a robotic system can take over the control from the human operator in certain situations, for instance when the operator has issues controlling the robot due to diminished depth perception. However, it is often difficult to decide when and how to take over control. In this paper, we introduce a virtual reality based shared autonomy teleoperation framework that provides support for the human operator during object interactions, e.g., for pick and place tasks. The framework allows for a better understanding of the current situation by providing visual and haptic cues to the operator. Additionally, based on the estimated intention of the operator, the system can autocorrect the operator’s commands to semi-autonomously guide the robot towards the current goal when appropriate. By retaining the operator's sense of agency, the system increases the operator's trust in the system.