A ROS Package for Human-In-the-Loop Planning and Control under Linear Temporal Logic Tasks

2021 ◽  
Author(s):  
Robin Baran ◽  
Xiao Tan ◽  
Peter Varnai ◽  
Pian Yu ◽  
Sofie Ahlberg ◽  
...  
Keyword(s):  
Temporal Logic ◽  
Linear Temporal Logic ◽  
Human In The Loop ◽  
Planning And Control ◽  
And Control

scholarly journals Towards a balancing safety against performance approach in human–robot co-manipulation for door-closing emergencies

2021 ◽  
Author(s):  
Chuande Liu ◽  
Chuang Yu ◽  
Bingtuan Gao ◽  
Syed Awais Ali Shah ◽  
Adriana Tapus
Keyword(s):  
Loop Control ◽  
Risk Levels ◽  
Human In The Loop ◽  
Planning And Control ◽  
Power Stations ◽  
Markov Decision ◽  
Partially Observable ◽  
And Control ◽  
Self Protection ◽  
Balance Mechanism

AbstractTelemanipulation in power stations commonly require robots first to open doors and then gain access to a new workspace. However, the opened doors can easily close by disturbances, interrupt the operations, and potentially lead to collision damages. Although existing telemanipulation is a highly efficient master–slave work pattern due to human-in-the-loop control, it is not trivial for a user to specify the optimal measures to guarantee safety. This paper investigates the safety-critical motion planning and control problem to balance robotic safety against manipulation performance during work emergencies. Based on a dynamic workspace released by door-closing, the interactions between the workspace and robot are analyzed using a partially observable Markov decision process, thereby making the balance mechanism executed as belief tree planning. To act the planning, apart from telemanipulation actions, we clarify other three safety-guaranteed actions: on guard, defense and escape for self-protection by estimating collision risk levels to trigger them. Besides, our experiments show that the proposed method is capable of determining multiple solutions for balancing robotic safety and work efficiency during telemanipulation tasks.

Temporal Logic Motion Planning and Control With Probabilistic Satisfaction Guarantees

2012 ◽  
Vol 28 (2) ◽  
pp. 396-409 ◽  
Author(s):  
Morteza Lahijanian ◽  
Sean B. Andersson ◽  
Calin Belta
Keyword(s):  
Motion Planning ◽  
Temporal Logic ◽  
Planning And Control ◽  
And Control

Human in the loop evaluation of a mixed-initiative system for planning and control of multiple UAV teams

2004 ◽  
Author(s):  
Emilie M. Roth ◽  
Mark L. Hanson ◽  
Chris Hopkins ◽  
Vince Mancuso ◽  
Greg L. Zacharias
Keyword(s):  
Human In The Loop ◽  
Planning And Control ◽  
Mixed Initiative ◽  
And Control

Human in the Loop Evaluation of a Mixed-Initiative System for Planning and Control of Multiple UAV Teams

2004 ◽  
Vol 48 (3) ◽  
pp. 280-284 ◽  
Author(s):  
Emilie M. Roth ◽  
Mark L. Hanson ◽  
Chris Hopkins ◽  
Vince Mancuso ◽  
Greg L. Zacharias
Keyword(s):  
Human In The Loop ◽  
Planning And Control ◽  
Mixed Initiative ◽  
And Control

scholarly journals Mission Planning and Control of Multi-Aircraft Systems With Signal Temporal Logic Specifications

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 155941-155950 ◽  
Author(s):  
Baris Baspinar ◽  
Hamsa Balakrishnan ◽  
Emre Koyuncu
Keyword(s):  
Temporal Logic ◽  
Mission Planning ◽  
Aircraft Systems ◽  
Planning And Control ◽  
And Control
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