Shared Autonomy for Safety Between a Self-reconfigurable Robot and a Teleoperator Using Multi-layer Fuzzy Logic by Azcarate, Raul F.G., Daniela, S.C., Hayat, A.A., Yi, Lim, Muthugala, M. A. Viraj J., Tang, Q.R, Povendhan, A.P., Leong, K.J.K., Elara, M.R.

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