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Human in the Loop Least Violating Robot Control Synthesis under Metric Interval Temporal Logic Specifications
KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.ORCID-id: 0000-0001-7309-8086
2018 (engelsk)Inngår i: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, s. 453-458, artikkel-id 8550179Konferansepaper, Publicerat paper (Fagfellevurdert)
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.

sted, utgiver, år, opplag, sider
Institute of Electrical and Electronics Engineers (IEEE), 2018. s. 453-458, artikkel-id 8550179
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-241511DOI: 10.23919/ECC.2018.8550179Scopus ID: 2-s2.0-85059809205ISBN: 9783952426982 (tryckt)OAI: oai:DiVA.org:kth-241511DiVA, id: diva2:1282227
Konferanse
16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018
Forskningsfinansiär
Swedish Foundation for Strategic Research Knut and Alice Wallenberg FoundationSwedish Research CouncilEU, Horizon 2020, BUCOPH-SYS
Merknad

QC 20190124

Tilgjengelig fra: 2019-01-24 Laget: 2019-01-24 Sist oppdatert: 2019-01-24bibliografisk kontrollert

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