C3A: A Cognitive Collaborative Control Architecture For an Intelligent Wheelchair
This work addresses a domain-specific problem for individuals with disabilities, but it appears incremental as it builds on existing control architectures without demonstrating broad SOTA impact.
The paper tackles the challenge of providing need-based assistance for wheelchair navigation to help retain residual skills in individuals with partial cognitive or physical impairments, presenting a novel cognitive collaborative control architecture (C3A) and simulating it using ROS and USARSim.
Retention of residual skills for persons who partially lose their cognitive or physical ability is of utmost importance. Research is focused on developing systems that provide need-based assistance for retention of such residual skills. This paper describes a novel cognitive collaborative control architecture C3A, designed to address the challenges of developing need- based assistance for wheelchair navigation. Organization of C3A is detailed and results from simulation of the proposed architecture is presented. For simulation of our proposed architecture, we have used ROS (Robot Operating System) as a control framework and a 3D robotic simulator called USARSim (Unified System for Automation and Robot Simulation).