Reduction of User Interaction by Autonomy

This paper describes experiments that quantify the improvement that autonomous behaviors enable in the amount of user interaction required to navigate a robot in urban environments. Many papers have discussed various ways to measure the absolute level of autonomy of a system; we measured the relative improvement of autonomous behaviors over teleoperation across multiple traverses of the same course. We performed four runs each on an 'easy' course and a 'hard' course, where half the runs were teleoperated and half used more autonomous behaviors. Statistics show 40-70% reductions in the amount of time the user interacts with the control station; however, with the behaviors tested, user attention remained on the control station even when he was not interacting. Reducing the need for attention will require better obstacle detection and avoidance and better absolute position estimation.