Title :
Safe exploration: Addressing various uncertainty levels in human robot interactions
Author :
Changliu Liu ; Tomizuka, Masayoshi
Author_Institution :
Univ. of California, Berkeley, Berkeley, CA, USA
Abstract :
To address the safety issues in human robot interactions (HRI), a safe set algorithm (SSA) was developed previously. However, during HRI, the uncertainty levels are changing in different phases of the interaction, which is not captured by SSA. A safe exploration algorithm (SEA) is proposed in this paper to address the uncertainty levels in the robot control. To estimate the uncertainty levels online, a learning method in the belief space is developed. A comparative study between SSA and SEA is conducted. The simulation results confirm that SEA can capture the uncertainty reduction behavior which is observed in human-human interactions.
Keywords :
human-robot interaction; learning (artificial intelligence); mobile robots; uncertain systems; HRI; SEA; SSA; belief space; human-human interactions; human-robot interactions; learning method; robot control; safe exploration algorithm; safe set algorithm; safety issues; uncertainty level estimation; uncertainty reduction behavior; Aerospace electronics; Noise; Robots; Safety; Time measurement; Uncertainty; Vehicles;
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7170779
