Synthesis of shared control protocols with provable safety and performance guarantees
Synthesis of shared control protocols with provable safety and performance guarantees
复制标题
具有可证明的安全性和性能保证的共享控制协议的综合
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
U. Topcu
中科院分区：
文献类型：
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作者：
N. Jansen;Murat Cubuktepe;U. Topcu
我们将共享控制协议的综合形式化，并保证时间逻辑规范的正确性。更具体地说，我们引入了一种建模形式，其中人类和自治协议都可以向机器人发出命令以执行特定任务。这些命令被混合到机器人的关节输入中。自治协议是使用可能的人类命令的抽象来综合的，考虑到由于疲劳或手头问题的不可理解等因素引起的决策的随机性。该综合旨在确保最终的机器人行为满足给定的安全和性能规范，例如时间逻辑。我们的解决方案基于非线性编程，我们通过提出替代方法来解决固有的可扩展性问题。我们通过实验评估来评估该方法的可行性和可扩展性。
We formalize synthesis of shared control protocols with correctness guarantees for temporal logic specifications. More specifically, we introduce a modeling formalism in which both a human and an autonomy protocol can issue commands to a robot towards performing a certain task. These commands are blended into a joint input to the robot. The autonomy protocol is synthesized using an abstraction of possible human commands accounting for randomness in decisions caused by factors such as fatigue or incomprehensibility of the problem at hand. The synthesis is designed to ensure that the resulting robot behavior satisfies given safety and performance specifications, e.g., in temporal logic. Our solution is based on nonlinear programming and we address the inherent scalability issue by presenting alternative methods. We assess the feasibility and the scalability of the approach by an experimental evaluation.