# A Planning-Level Intention Prediction Framework for Mobile Robot Shared Control

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/riynu4tn49eeqhmtttec6pfpm
- Original: https://arxiv.org/abs/2511.08912

## Summary

The paper proposes a shared control framework for mobile robots with planning-level intention prediction, using an intention domain to constrain path replanning and jointly modeling intention-domain prediction and replanning as a Markov decision process solved via deep reinforcement learning. The authors also design a Voronoi-based human trajectory generation algorithm that allows the model to be trained entirely in simulation without human participation or demonstration data; simulations and real-world user studies show the method reduces operator workload and improves safety without degrading task efficiency.