Robotic ADaptation to Humans Adapting to Robots: Overview of the FP7 project RADHAR

This paper presents the research objectives and current state of the FP7 project RADHAR (www.radhar.eu). RADHAR proposes a framework to fuse the inherently uncertain information from both environment perception and a wheelchair driver’s steering signals by estimating the trajectory the wheelchair should execute, and to adopt this fused information for providing safe navigation assistance. Furthermore, the wheelchair’s level of autonomy is continuously adjusted to the driver’s varying capabilities and desires. For each of the key components in the RADHAR framework, experimental results are shown.

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