  In the field of Human-Robot Interaction (HRI), many researchers study shared
control systems. Shared control is when a person and agent both contribute to
the performance of a task in a collaborative way, often by providing control
inputs for a robot. One of the most important things in shared control is the
nature of the communication between the person and robot, which could help the
human-robot team handle a variety of challenging situations. In this paper, we
identify key challenges in shared control, in which better communication design
could be useful, including when encountering novel situations and contexts,
resolving tensions between preferences and performance, and alleviating
cognitive burden and interruptions. Through the use of four exemplar shared
control scenarios, we explore how well-designed human-robot communication
strategies could help address each challenge. We hope this paper will draw
attention to these challenges and assist researchers in advancing the
development of shared control systems.
