Comparison of control and cooperation frameworks for blended autonomy

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dc.contributor.author Provan, Gregory
dc.contributor.author Sohége, Yves
dc.date.accessioned 2019-02-26T16:01:11Z
dc.date.available 2019-02-26T16:01:11Z
dc.date.issued 2018-06
dc.identifier.citation Provan, G. and Sohége, Y. (2018) 'Comparison of Control and Cooperation Frameworks for Blended Autonomy'. 2018 European Control Conference (ECC), Limassol, Cyprus, 12 - 15 June. doi: 10.23919/ECC.2018.8550055 en
dc.identifier.startpage 1 en
dc.identifier.endpage 7 en
dc.identifier.isbn 978-3-9524-2699-9
dc.identifier.uri http://hdl.handle.net/10468/7544
dc.identifier.doi 10.23919/ECC.2018.8550055
dc.description.abstract Autonomous vehicles, e.g., cars, aircraft or ships, will need to accept some degree of human control for the coming years. Consequently, a method of controlling autonomous systems (ASs) that integrates control inputs from humans and machines is critical. We describe a framework for blended autonomy, in which humans and ASs interact with varying degrees of control to safely achieve a task. We empirically compare collaborative control tasks in which the human and AS have identical or conflicting objectives, under three main control frameworks: (1) leader-follower control (based on Stackelberg games); (2) blended control; and (3) switching control. We validate our results on a car steering control model, given communication delays, noise and different collaboration levels. en
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.publisher Institute of Electrical and Electronics Engineers (IEEE) en
dc.relation.uri https://ieeexplore.ieee.org/abstract/document/8550055
dc.rights © 2018 EUCA. Published by IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. en
dc.subject Automobiles en
dc.subject Game theory en
dc.subject Mobile robots en
dc.subject Multi-robot systems en
dc.subject Steering systems en
dc.subject Blended autonomy en
dc.subject Autonomous vehicles en
dc.subject Human control en
dc.subject Autonomous systems en
dc.subject Control inputs en
dc.subject Collaborative control tasks en
dc.subject Blended control en
dc.subject Car steering control model en
dc.subject AS en
dc.subject Switching control en
dc.subject Leader-follower control en
dc.subject Stackelberg games en
dc.subject Task analysis en
dc.subject Linear programming en
dc.subject Collaboration en
dc.subject Mathematical model en
dc.subject Optimal control en
dc.title Comparison of control and cooperation frameworks for blended autonomy en
dc.type Conference item en
dc.internal.authorcontactother Gregory Provan, Computer Science, University College Cork, Cork, Ireland. +353-21-490-3000 Email: g.provan@cs.ucc.ie en
dc.internal.availability Full text available en
dc.date.updated 2019-02-26T15:52:28Z
dc.description.version Accepted Version en
dc.internal.rssid 475027614
dc.contributor.funder Science Foundation Ireland en
dc.description.status Peer reviewed en
dc.internal.copyrightchecked No !!CORA!! en
dc.internal.licenseacceptance Yes en
dc.internal.conferencelocation Limassol, Cyprus en
dc.internal.IRISemailaddress g.provan@cs.ucc.ie en
dc.relation.project info:eu-repo/grantAgreement/SFI/SFI Research Centres/12/RC/2289/IE/INSIGHT - Irelands Big Data and Analytics Research Centre/ en
dc.relation.project info:eu-repo/grantAgreement/SFI/SFI Research Centres/13/RC/2094/IE/Lero - the Irish Software Research Centre/ en


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