Limited-Information Cooperative Shared Control for Vehicle-Manipulators

Varga, Balint; Hohmann, Sören; Shahirpour, Arash; Lemmer, Markus; Schwab, Stefan

doi:10.1109/smc42975.2020.9283367

Cited by 5 publications

(7 citation statements)

References 27 publications

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“…In this subsection, a brief overview of the concept of LISC with linear system model is given, which is introduced by the authors in [19]. It is assumed that the system is modelled in the so-called Frénet frame, which is a common approach for mobile robots [26,Ch.49.2].…”

Section: B Concept Of the Limited Information Cooperative Controlmentioning

confidence: 99%

“…This means that the system states are given relative to the reference path and therefore the goal state is always x goal = 0. In [19], linear system dynamics of the VM in Frénet frame are suggested, where the system states are split into measurable x m ∈ R n−k and non-measurable states…”

Section: B Concept Of the Limited Information Cooperative Controlmentioning

confidence: 99%

“…Second, the future control inputs or the future goals of the human are neither available nor exactly predictable in real world applications. To solve the challenge of the non-measurable system states, a limited information shared controller (LISC) is proposed in [18] and [19]. However, in these earlier works present no systematic designs of the LISC.…”

Section: Introductionmentioning

confidence: 99%

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Limited Information Shared Control: A Potential Game Approach

Varga,

Inga,

Hohmann

2022

Preprint

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This paper presents a systematic method for the design of a limited information shared controller (LISC). LISC is used in applications where not all system states or references trajectories are measurable by the automation. Typical examples are partially human controlled systems, in which some subsystems are fully controlled by the automation, while others are controlled by a human. The proposed systematic design uses a novel class of games to model human-machine interaction:The near potential differential games (NPDG). We provide a necessary and sufficient condition for the existence of an NPDG and derive an algorithm for finding a NPDG which completely describes a given differential game. The proposed design method is applied to the control of a large vehicle manipulator system, in which the manipulator is controlled by the human operator and the vehicle is fully automated. The suitability of the NPDG modelling differential games is verified in simulations leading to a faster and more accurate controller design compared to manual tuning. Furthermore, the overall design process is validated in a study with sixteen test subjects indicating the applicability of the proposed concept in real applications.

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Section: B Concept Of the Limited Information Cooperative Controlmentioning

confidence: 99%

Section: B Concept Of the Limited Information Cooperative Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Limited Information Shared Control: A Potential Game Approach

Varga,

Inga,

Hohmann

2022

Preprint

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“…The introduction of the so called cooperation state is the main idea of the LISC [5]. This cooperation state encapsulates the interaction of automation and human.…”

Section: A Concept Of the Limited Information Shared Controllermentioning

confidence: 99%

“…However, the controller has no information about the task specific of the human. To overcome this challenge, [5] proposes the Limited Information Shared Controller (LISC), which can support the operator without information about the manipulator's state and goals.…”

Section: Introductionmentioning

confidence: 99%

Validation of a Limited Information Shared Controller: A Comparative Study

Varga

Rothfus

Hohmann

2022

2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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This paper presents the validation and the comparative study of a shared control concept for a large vehicle manipulator (LVM). The state-of-the-art controlling a LVM is manual control: The operator controls the manipulator to carry out a specific task and keeps the vehicle on the road. Easing the work for the operator, an automatic lane-keeping of the vehicle can be taken into account: An automation of the vehicle which keeps it on its reference, but without taking into consideration of the manipulator's specific task. However, the operator has his specific task with the manipulator, and therefore, such automation may not be satisfying. Therefore, this paper presents the validation and compares the Limited Information Shared Controller (LISC) proposed previously with the manual control mode. This step is crucial, showing the concept's applicability and benefits compared to the state-of-the-art solution. Thus, the LISC is compared with a non-cooperative controller (NCC) and the manual mode on a real-time simulator with test subjects. It has a more realistic experimental setup than in other studies because there is no predefined manipulator reference. The study results indicate that the NCC can lead to undesired motions of the overall system because the test subjects cannot carry out their specific task. On the other hand, the proposed the LISC of the vehicle can reduce the working load while supporting the operator in carrying out the manipulator's specific task.

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