In shared control, a robot and a human works together to accomplish a task in order to increase the efficiency of tele-operation. To assist the user in shared control, the robot has to predict the intent of the user accurately and quickly, but this may not be possible when the user can not adapt to the delay as the prediction of the robot depends of the inputs of the user. In this work, we propose an algorithm for intent prediction in shared control while providing performance guarantees when the user has a feedback delay. We assess the feasibility of our algorithm on a case study.
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