Adaptive haptic shared control framework using markov decision processing

Amir H. Ghasemi; Hossein Rastgoftar

doi:10.1115/DSCC2018-9009

Adaptive haptic shared control framework using markov decision processing

Amir H. Ghasemi, Hossein Rastgoftar

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 Scopus citations

Abstract

Semi-autonomous steering promises to combine the best of human perception, planning, and manual control with the precision of automatic control. This paper presents an adaptive haptic shared control scheme using Markov Decision Process (MDP) to keep human drivers in the loop yet free attention and avoid automation pitfalls. Using MDP, algorithms are developed to support the negotiation of authority between the human driver and automation system.

Original language	English (US)
Title of host publication	Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations
Subtitle of host publication	Modeling, Analysis, and Control
Publisher	American Society of Mechanical Engineers (ASME)
ISBN (Electronic)	9780791851913
DOIs	https://doi.org/10.1115/DSCC2018-9009
State	Published - 2018
Externally published	Yes
Event	ASME 2018 Dynamic Systems and Control Conference, DSCC 2018 - Atlanta, United States Duration: Sep 30 2018 → Oct 3 2018

Publication series

Name	ASME 2018 Dynamic Systems and Control Conference, DSCC 2018
Volume	3

Conference

Conference	ASME 2018 Dynamic Systems and Control Conference, DSCC 2018
Country/Territory	United States
City	Atlanta
Period	9/30/18 → 10/3/18

ASJC Scopus subject areas

Control and Systems Engineering
Mechanical Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1115/DSCC2018-9009

Cite this

Ghasemi, A. H., & Rastgoftar, H. (2018). Adaptive haptic shared control framework using markov decision processing. In Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control (ASME 2018 Dynamic Systems and Control Conference, DSCC 2018; Vol. 3). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2018-9009

Adaptive haptic shared control framework using markov decision processing. / Ghasemi, Amir H.; Rastgoftar, Hossein.
Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. American Society of Mechanical Engineers (ASME), 2018. (ASME 2018 Dynamic Systems and Control Conference, DSCC 2018; Vol. 3).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ghasemi, AH & Rastgoftar, H 2018, Adaptive haptic shared control framework using markov decision processing. in Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. ASME 2018 Dynamic Systems and Control Conference, DSCC 2018, vol. 3, American Society of Mechanical Engineers (ASME), ASME 2018 Dynamic Systems and Control Conference, DSCC 2018, Atlanta, United States, 9/30/18. https://doi.org/10.1115/DSCC2018-9009

Ghasemi AH, Rastgoftar H. Adaptive haptic shared control framework using markov decision processing. In Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. American Society of Mechanical Engineers (ASME). 2018. (ASME 2018 Dynamic Systems and Control Conference, DSCC 2018). doi: 10.1115/DSCC2018-9009

Ghasemi, Amir H. ; Rastgoftar, Hossein. / Adaptive haptic shared control framework using markov decision processing. Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. American Society of Mechanical Engineers (ASME), 2018. (ASME 2018 Dynamic Systems and Control Conference, DSCC 2018).

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Adaptive haptic shared control framework using markov decision processing

Abstract

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