Shared Autonomy for Safety Between a Self-reconfigurable Robot and a Teleoperator Using Multi-layer Fuzzy Logic. - Raul F. G. Azcarate; Daniela Sanchez Cruz; Abdullah Aamir Hayat; Lim Yi; M. A. Viraj J. Muthugala; Qinrui Tang; Palanisamy Povendhan; Kristor Leong Jie Kai Leong; Mohan Rajesh Elara (IROS, 2022)