A shared control architecture for human-in-the-loop robotics applications

We propose a shared control architecture to enable the modeling of human-in-the-loop cyber physical systems (HiLCPS) in robotics applications. We identify challenges that currently hinder ideas and concepts from cross-domain applications to be shared among different implementation of HiLCPS. The presented architecture is developed with the intent to help bridge the gap between different communities developing HiLCPS by providing a common framework, associated metrics, and associated language to describe individual elements. We provide examples from two different domains, disaster robotics and assistive robotics, to demonstrate the structure of the architecture.