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Experiments in adjustable autonomy

Human-robot interaction is becoming an increasingly important research area. In this paper, we present our work on designing a human-robot system with adjustable autonomy and describe not only the prototype interface but also the corresponding, robot behaviors. In our approach, we grant the human meta-level control over the level of robot autonomy, but we allow the robot a varying amount of self-direction with each level. Within this framework of adjustable autonomy, we explore how existing, robot control approaches can be adapted and extended to be compatible with adjustable autonomy.