A framework for planning comfortable and customizable motion of an assistive mobile robot

Assistive mobile robots that can navigate autonomously can greatly benefit people with mobility impairments. Since an assistive mobile robot transports a human user from one place to another, its motion should be comfortable for human users. Moreover, it should be possible for users to customize the motion according to their comfort. While there exists a large body of work on motion planning for mobile robots, very little attention has been paid to characterizing comfort and planning comfortable trajectories.

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