Table 2.

Success rate per waypoint in the actual experiment and in simulation with and without the assistance of shared control

	P1			P2			P3
	actual	simulation		actual	simulation		actual	simulation
	with assistance	with assistance	without assistance	with assistance	with assistance	without assistance	with assistance	with assistance	without assistance
WP1	100.0%	100.0%	100.0%	100.0%	100.0%	60.0%	100.0%	100.0%	60.0%
WP2	100.0%	100.0%	90.0%	20.0%	70.0%	20.0%	66.6%	70.0%	40.0%
WP3	100.0%	100.0%	70.0%	60.0%	40.0%	10.0%	100.0%	60.0%	20.0%
WP4	80.0%	90.0%	70.0%	0.0%	0.0%	0.0%	20.0%	40.0%	10.0%
Average	95.0%	97.5%	82.5%	45.0%	52.5%	22.5%	73.3%	67.5%	32.5%