The problem of teleoperating a mobile robot using shared autonomy is addressed: an onboard controller performs close range obstacle avoidance while the operator uses the manipulandum of a haptic probe to designate the desired speed and rate of turn. Sensors on the robot are used to measure obstacle range information. A strategy to convert such range information into forces is described, which are reflected to the operator's hand via the haptic probe. This haptic information provides feedback to the operator in addition to imagery from a front-facing camera mounted on the mobile robot. Extensive experiments with a user population both in virtual and in real environments show that this added haptic feedback significantly improves operator performance, as well as presence, in several ways (reduced collisions, increased minimum distance between the robot and obstacles, etc.) without a significant increase in navigation time.

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We address rhe problem of releoperaiing a mobile robot using shared autonomy: an on-boardcontrollerperforms obstacle avoidance while the operator uses ihe manipulandwn of a haptic probe io designate rhe desired speed and rare of turn. Sensors on the robot are used ro measure obsracle range informiion. We describe a strategy to convert such range information into forces, which are re- jlecied io the operaior's hand, via rhe haptic probe. This hapric infomation provides feedback io the operator in addition to imgeryfmm afmni-facing camera mounted on the mobile robot Extensive experiments with a user popularion show that the added hapiic feedback sign$icanily improves operaror pe~ormance in several ways (reduced collisions, increased minimum distance benveen rhe mboi and obstacles) wiihour a significant increase in navigation time.

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