提出新框架，公平对比翻滚式机器人自主控制优劣。
Manual, Semi or Fully Autonomous Flipper Control? A Framework for Fair Comparison
- 重构现有方法实现公平对比，设计新型半自主控制策略。
- 新策略在质量-负荷二维空间中显著缩小自主与人工控制差距。
- 发现熟练操作员用模拟手柄三视角操控六自由度仍高效。
我们研究了现有半自主与全自主翻滚式滑移转向机器人的控制性能。通过重实现这些方法以确保公平比较，提出一种新型半自主控制策略，在当前最先进方法间提供了出色的权衡。我们还引入评估认知负荷与越障质量的新指标，并提供基准测试接口，可从记录数据生成质量-负荷图。结果以二维质量-负荷空间呈现，显示新策略有效弥合了自主与人工控制之间的差距。此外，我们发现：经验丰富的操作员使用精心设计的模拟控制器，从第三人称视角进行六自由度的连续手动控制，依然表现出极高效率。
原文摘要 · Abstract (English)
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.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。