Task level hierarchical system for BCI-enabled shared autonomy

@article{Akinola2017TaskLH,
  title={Task level hierarchical system for BCI-enabled shared autonomy},
  author={Iretiayo Akinola and Boyuan Chen and Jonathan Koss and Aalhad Patankar and Jacob Varley and Peter K. Allen},
  journal={2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)},
  year={2017},
  pages={219-225}
}
This paper describes a novel hierarchical system for shared control of a humanoid robot. Our framework uses a low-bandwidth Brain Computer Interface (BCI) to interpret electroencephalography (EEG) signals via Steady-State Visual Evoked Potentials (SSVEP). This BCI allows a user to reliably interact with the humanoid. Our system clearly delineates between autonomous robot operation and human-guided intervention and control. Our shared-control system leverages the ability of the robot to… 
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