Active Uncertainty Reduction for Safe and Efficient Interaction Planning: A Shielding-Aware Dual Control Approach
We developed a novel interactive motion planning framework that performs active uncertainty reduction without requiring an explicit information-gathering strategy or objective and provides robust safety guarantees.
@article{hu2023active,
title={Active Uncertainty Reduction for Safe and Efficient Interaction Planning: A Shielding-Aware Dual Control Approach},
author={Hu, Haimin and Isele, David and Bae, Sangjae and Fisac, Jaime F},
journal={The International Journal of Robotics Research},
year={2023}
}
Citation
Related Papers
@inproceedings{hu2023active,
title={Active Uncertainty Reduction for Human-Robot Interaction: An Implicit Dual Control Approach},
author={Hu, Haimin and Fisac, Jaime F},
booktitle={Algorithmic Foundations of Robotics XV},
pages={385--401},
year={2023},
publisher={Springer International Publishing}
}
@article{hu2022sharp,
author={Hu, Haimin and Nakamura, Kensuke and Fisac, Jaime F.},
journal={IEEE Robotics and Automation Letters},
title={SHARP: Shielding-Aware Robust Planning for Safe and Efficient Human-Robot Interaction},
year={2022},
volume={7},
number={2},
pages={5591-5598},
doi={10.1109/LRA.2022.3155229}
}
Authors
This work is supported by the Princeton SEAS Project X Innovation Fund and the Honda Research Institute (HRI) USA, Inc. This article solely reflects the opinions and conclusions of its authors and not HRI, or any other Honda entity. The authors thank Thang Lian, Huan D. Nguyen, and Zhaobo K. Zheng for their help with the hardware experiments. The authors also thank Faizan M. Tariq, Piyush Gupta, Aolin Xu, Yichen Song, Zixu Zhang, and Kai-Chieh Hsu for very helpful discussions on decision making under uncertainty, MPC, and shielding.
