Pareto efficiency in synthesizing shared autonomy policies with temporal logic constraints

Jie Fu; Ufuk Topcu

ICRA 2015poster19 citations

Pareto efficiency in synthesizing shared autonomy policies with temporal logic constraints

Abstract

For systems in which control authority is shared by an autonomous controller and a human operator, it is important to find solutions that achieve a desirable system performance with a reasonable workload for the human operator. We formulate a shared autonomy system capable of capturing the interaction and switching control between an autonomous controller and a human operator, as well as the evolution of the operator's cognitive state in the working environment. To trade-off human's effort and the performance level, e.g., measured by the probability of satisfying the underlying temporal logic specification, a two-stage policy synthesis algorithm is proposed for generating Pareto efficient coordination and control policies with respect to user specified weights.

BibTeX

@inproceedings{icra2015_paretoefficiency,
  title = {Pareto efficiency in synthesizing shared autonomy policies with temporal logic constraints},
  author = {Jie Fu and Ufuk Topcu},
  booktitle = {ICRA 2015},
  year = {2015}
}