Blending human and robot inputs for sliding scale autonomy

Most robot systems have discrete autonomy levels, if they possess more than a single autonomy level. A user or the robot may switch between these discrete modes, but the robot can not operate at a level between any two modes. We have developed a sliding scale autonomy system that allows autonomy levels to be created and changed on the fly. This paper discusses the system´s architecture and presents the results of experiments with the sliding scale autonomy system.