安全性と性能を保証する共有制御プロトコルの合成
Synthesis of Shared Control Protocols with Provable Safety and Performance Guarantees
人間と自律制御が発する指令を統合してロボットを動かす共有制御系を設計し、時相論理仕様を満たすことを保証する手法を提案した論文。
著者: Nils Jansen, Murat Cubuktepe, Ufuk Topcu
分類: cs.RO, cs.AI, cs.LG
原文アブストラクト
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.
