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Mixed-Initiative Control Synthesis: Estimating an Unknown Task Based on Human Control Input
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, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2020 (English)In: Proceedings of the 3rd IFAC Workshop on Cyber-Physical & Human Systems,, 2020Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we consider a mobile platform controlled by two entities; an autonomousagent and a human user. The human aims for the mobile platform to complete a task, whichwe will denote as the human task, and will impose a control input accordingly, while not beingaware of any other tasks the system should or must execute. The autonomous agent will in turnplan its control input taking in consideration all safety requirements which must be met, sometask which should be completed as much as possible (denoted as the robot task), as well aswhat it believes the human task is based on previous human control input. A framework for theautonomous agent and a mixed initiative controller are designed to guarantee the satisfaction ofthe safety requirements while both the human and robot tasks are violated as little as possible.The framework includes an estimation algorithm of the human task which will improve witheach cycle, eventually converging to a task which is similar to the actual human task. Hence, theautonomous agent will eventually be able to find the optimal plan considering all tasks and thehuman will have no need to interfere again. The process is illustrated with a simulated example

Place, publisher, year, edition, pages
2020.
National Category
Control Engineering Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-289206DOI: 10.1016/j.ifacol.2021.04.128ISI: 000656589700023Scopus ID: 2-s2.0-85107837062OAI: oai:DiVA.org:kth-289206DiVA, id: diva2:1521092
Conference
3rd IFAC Workshop on Cyber-Physical & Human Systems Beijing, December 3-5, 2020
Note

QC 20210122

Available from: 2021-01-22 Created: 2021-01-22 Last updated: 2022-06-25Bibliographically approved

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Ahlberg, SofieDimarogonas, Dimos V.
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Decision and Control Systems (Automatic Control)Centre for Autonomous Systems, CASACCESS Linnaeus Centre
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