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Human-in-the-Loop Mixed-Initiative Control under Temporal Tasks
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-4562-854X
KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-7372-9247
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2018 (English)In: 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE Computer Society, 2018, p. 6395-6400Conference paper, Published paper (Refereed)
Abstract [en]

This paper considers the motion control and task planning problem of mobile robots under complex high-level tasks and human initiatives. The assigned task is specified as Linear Temporal Logic (LTL) formulas that consist of hard and soft constraints. The human initiative influences the robot autonomy in two explicit ways: with additive terms in the continuous controller and with contingent task assignments. We propose an online coordination scheme that encapsulates (i) a mixed-initiative continuous controller that ensures all-time safety despite of possible human errors, (ii) a plan adaptation scheme that accommodates new features discovered in the workspace and short-term tasks assigned by the operator during run time, and (iii) an iterative inverse reinforcement learning (IRL) algorithm that allows the robot to asymptotically learn the human preference on the parameters during the plan synthesis. The results are demonstrated by both realistic human-in-the-loop simulations and experiments.

Place, publisher, year, edition, pages
IEEE Computer Society, 2018. p. 6395-6400
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-237167DOI: 10.1109/ICRA.2018.8460793ISI: 000446394504124Scopus ID: 2-s2.0-85063131458ISBN: 978-1-5386-3081-5 (print)OAI: oai:DiVA.org:kth-237167DiVA, id: diva2:1258283
Conference
IEEE International Conference on Robotics and Automation (ICRA), MAY 21-25, 2018, Brisbane, AUSTRALIA
Funder
Knut and Alice Wallenberg Foundation
Note

QC 20181024

Available from: 2018-10-24 Created: 2018-10-24 Last updated: 2020-03-05Bibliographically approved

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Guo, MengAndersson, SofieDimarogonas, Dimos V.

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