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Human in the Loop Least Violating Robot Control Synthesis under Metric Interval Temporal Logic Specifications
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0001-7309-8086
2018 (English)In: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 453-458, article id 8550179Conference paper, Published paper (Refereed)
Abstract [en]

Recently, multiple frameworks for control synthesis under temporal logic have been suggested. The frameworks allow a user to give one or a set of robots high level tasks of different properties (e.g. temporal, time limited, individual and cooperative). However, the issue of how to handle tasks, which either seem to be or are infeasible, remains unsolved. In this paper we introduce a human to the loop, using the human's feedback to determine preference towards different types of violations of the tasks. We introduce a metric of violation called hybrid distance. We also suggest a novel framework for synthesizing a least violating controller with respect to the hybrid distance and the human feedback. Simulation result indicate that the suggested framework gives reasonable estimates of the metric, and that the suggested plans correspond to the expected ones.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018. p. 453-458, article id 8550179
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-241511DOI: 10.23919/ECC.2018.8550179Scopus ID: 2-s2.0-85059809205ISBN: 9783952426982 OAI: oai:DiVA.org:kth-241511DiVA, id: diva2:1282227
Conference
16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018
Funder
Swedish Foundation for Strategic Research Knut and Alice Wallenberg FoundationSwedish Research CouncilEU, Horizon 2020, BUCOPH-SYS
Note

QC 20190124

Available from: 2019-01-24 Created: 2019-01-24 Last updated: 2019-01-24Bibliographically approved

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Dimarogonas, Dimos V.

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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