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Human-robot interaction is becoming an increasingly important research area. In this paper, we present our work on designing a human-robot system with adjustable autonomy and describe not only the prototype interface but also the corresponding, robot behaviors. In our approach, we grant the human meta-level control over the level of robot autonomy, but we allow the robot a varying amount of self-direction with each level. Within this framework of adjustable autonomy, we explore how existing, robot control approaches can be adapted and extended to be compatible with adjustable autonomy.
Crandall et al. (Wed,) studied this question.