Safe exploration: Addressing various uncertainty levels in human robot interactions

Author

Changliu Liu ; Tomizuka, Masayoshi

Author_Institution

Univ. of California, Berkeley, Berkeley, CA, USA

fYear

2015

fDate

1-3 July 2015

Firstpage

465

Lastpage

470

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;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2015

Conference_Location

Chicago, IL

Print_ISBN

978-1-4799-8685-9

Type

conf

DOI

10.1109/ACC.2015.7170779

Filename

7170779