人間とロボットの相互作用におけるマルチモーダル安全制御
Multimodal Safe Control for Human-Robot Interaction
人間の意図が不明で各意図にも不確実性がある状況で、エネルギー関数に基づく安全制御手法MMSSAを提案し、効率を損なわず安全性を向上させた。
著者: Ravi Pandya, Tianhao Wei, Changliu Liu
分類: cs.RO
原文アブストラクト
Generating safe behaviors for autonomous systems is important as they continue to be deployed in the real world, especially around people. In this work, we focus on developing a novel safe controller for systems where there are multiple sources of uncertainty. We formulate a novel multimodal safe control method, called the Multimodal Safe Set Algorithm (MMSSA) for the case where the agent has uncertainty over which discrete mode the system is in, and each mode itself contains additional uncertainty. To our knowledge, this is the first energy-function-based safe control method applied to systems with multimodal uncertainty. We apply our controller to a simulated human-robot interaction where the robot is uncertain of the human's true intention and each potential intention has its own additional uncertainty associated with it, since the human is not a perfectly rational actor. We compare our proposed safe controller to existing safe control methods and find that it does not impede the system performance (i.e. efficiency) while also improving the safety of the system.
