Synthesis of Shared Autonomy Policies With Temporal Logic Specifications
Synthesis of Shared Autonomy Policies With Temporal Logic Specifications
复制标题
具有时间逻辑规范的共享自治策略的综合
DOI：
10.1109/tase.2015.2499164
复制
发表时间：
2016
影响因子：
5.6
通讯作者：
U. Topcu
中科院分区：
文献类型：
--
作者：
Jie Fu;U. Topcu
我们提出了一种综合方法切换控制策略的一类共享自治系统中，控制权是由一个人操作员或一个自主控制器的基础上，整个系统的状态。我们的目标是优化系统性能的概率满足系统规范的线性时序逻辑，同时确保合理的工作量的人类操作员。的综合方法建立在一个抽象的模型，为给定的共享自治系统从一组组件建模的马尔可夫决策过程，这是能够捕捉的不确定性，在操作员的性能和响应切换控制信号下，他的不同的认知和生理状态。然后引入成本函数来量化人类操作员的工作量。为了建立运营商的努力和系统性能之间的定量权衡，我们提出了一个两阶段的政策合成算法生成帕累托最优的开关控制策略。
We propose a synthesis method of switching control policies for a class of shared autonomy systems in which control authority is held by either a human operator or an autonomous controller based on the state of the overall system. The objective is to optimize the system performance measured by the probability of satisfying a system specification in linear temporal logic, while ensuring a reasonable workload for the human operator. The synthesis method builds upon the construction of an abstract model for the given shared autonomy system from a set of components modeled by Markov decision processes, which are capable of capturing the uncertainty in the operator's performance and response to switching control signals under his different cognitive and physiological states. A cost function is then introduced to quantify the human operator's workload. In order to establish quantitative trade-offs between the operator's effort and the system performance, we propose a two-stage policy synthesis algorithm for generating Pareto-optimal switching control policies.