How much should a person be allowed to interact with a controlled machine?
The aim of this project is to balance the ability of a person to direct a cyber-physical system and the system's representation of its own capabilities and limitations. We have developed a science of trust, that bridges human operator capabilities and physical system safety. We focus specifically on the case of mutually controlled motion [1,8]. The control behaviors are derived via optimal control, while the human operator provides corrective demonstrations via physical guidance . A formal measure of trust in the operator is computed, which decides how much control to cede to the operator during physical correction or mutual control.
Funding Source: National Science Foundation (NSF/CPS-1329891)
In collaboration with Todd Murphey, Mechanical Engineering, Northwestern University and Magnus Egerstedt, Georgia Institute of Technology.
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