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Human-in-the-loop control synthesis for multi-agent systems under hard and soft metric interval temporal logic specifications∗
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).ORCID iD: 0000-0001-7309-8086
2019 (English)In: Proceedings 15th IEEE International Conference on Automation Science and Engineering, CASE 2019, IEEE Computer Society , 2019, p. 788-793Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we present a control synthesis framework for a multi-agent system under hard and soft constraints, which performs online re-planning to achieve collision avoidance and execution of the optimal path with respect to some human preference considering the type of the violation of the soft constraints. The human preference is indicated by a mixed initiative controller and the resulting change of trajectory is used by an inverse reinforcement learning based algorithm to improve the path which the affected agent tries to follow. A case study is presented to validate the result. © 2019 IEEE.

Place, publisher, year, edition, pages
IEEE Computer Society , 2019. p. 788-793
Series
IEEE International Conference on Automation Science and Engineering (CASE), ISSN 2161-8089
Keywords [en]
Control system synthesis, Reinforcement learning, Temporal logic, Control synthesis, Hard and soft constraints, Human-in-the-loop control, Interval temporal logic, Inverse reinforcement learning, Mixed initiative, Optimal paths, Soft constraint, Multi agent systems
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-266458DOI: 10.1109/COASE.2019.8842954Scopus ID: 2-s2.0-85072955571ISBN: 978-1-7281-0356-3 (electronic)ISBN: 978-1-7281-0357-0 (print)OAI: oai:DiVA.org:kth-266458DiVA, id: diva2:1385004
Conference
15th IEEE International Conference on Automation Science and Engineering, CASE 2019, 22-26 August 2019
Note

QC 20200113

Available from: 2020-01-13 Created: 2020-01-13 Last updated: 2020-01-13Bibliographically approved

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Ahlberg, SofieDimarogonas, Dimos V.

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