ICRA 2024poster2 citations
A Bayesian Optimization Framework for the Automatic Tuning of MPC-based Shared Controllers
Anne van der Horst, Bas Meere, Dinesh Krishnamoorthy, Saray Bakker, Bram van de Vrande, Henry Stoutjesdijk, Marco Alonso, Elena Torta
Abstract
This paper presents a Bayesian optimization framework for the automatic tuning of shared controllers which are defined as a Model Predictive Control (MPC) problem. The proposed framework includes the design of performance metrics as well as the representation of user inputs for simulation-based optimization. The framework is applied to the optimization of a shared controller for an Image Guided Therapy robot. VR-based user experiments confirm the increase in performance of the automatically tuned MPC shared controller with respect to a hand-tuned baseline version as well as its generalization ability.
BibTeX
@inproceedings{icra2024_abayesianoptimiz,
title = {A Bayesian Optimization Framework for the Automatic Tuning of MPC-based Shared Controllers},
author = {Anne van der Horst and Bas Meere and Dinesh Krishnamoorthy and Saray Bakker and Bram van de Vrande and Henry Stoutjesdijk and Marco Alonso and Elena Torta},
booktitle = {ICRA 2024},
year = {2024}
}