The best way to do this is to have PolicyKit hadle the permissions issue
(grub-reboot can only be run as root).

I filed a bug with grub to ship a PolicyKit action file to describe the action.
https://savannah.gnu.org/bugs/index.php?34326

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https://bugs.launchpad.net/bugs/165065

Title:
  [wishlist] Ubuntu reboot into other OS

Status in “gnome-session” package in Ubuntu:
  Triaged

Bug description:
  Ubuntu (with Gnome) should can reboot directly into other Operating System 
listed in grub, as like as Kubuntu with KDE can do.
  See the screenshot to know what i am talking about.

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