Abstract
This Thesis details a study that explores the concept of shared autonomy in autonomous vehicles using fuzzy logic. The purpose is to create a system where a selfreconfigurable robot and a human user can work together to ensure the safety of their environment. The proposed multi-layer fuzzy logic decision process evaluates the robot’s multi-sensor inputs, the teleoperator’s attention level, and the configuration state of the robot to determine the appropriate operation mode, speed gain, and configuration state that prioritize both performance and safety. The study successfully demonstrates the feasibility of this approach in real-world pavement scenarios, showing that the robot can navigate safely with the help of shared autonomy.