Model-based Shared Control

Model-based shared control of human-machine systems. For detailed information about this system and the theory behind it, please read our corresponding paper. The code in this repository can be used to replicate the experiments described in our work.

Description of the System

Our system is validated with a simulated lunar lander, which can be controlled with a PS3 controller (see above). Our shared control framework relies on a learned model of the system and control dynamics. The model of the joint system is learned from demonstration data and can be learned offline or online. This model is computed through an approximation to the Koopman Operator. The control allocation algorithm is based on Maxwell's Demon Algorithm (MDA). A step-by-step set of instructions for how to run each part of the system can be found in the next section.

Installation

1. Clone the Model-based Shared Control repository in a ROS workspace

  mkdir ~/ros_ws
  cd ~/ros_ws
  git clone https://github.com/asbroad/model_based_shared_control.git

2. Build the ROS workspace

  catkin_make

Running the System

1. Connect PS3 Controller: To connect your PS3 joystick to your computer, open a terminal and run

  sudo sixad -s

2. Offline Model-based Shared Control: To run experiments that learn a model of the joint system offline, there are two steps.

• First, you need run the lunar lander simulator under direct control from a user (and collect observation data), open a terminal and run

 roslaunch model_based_shared_control collect_data.launch

When you finish demonstrating how to operate the lunar lander, you can press the space bar to shutdown the simulator. The model of the joint system will be saved automatically. If you are running the experiment with multiple people, update the user_id value in config.yaml.

• Second, to operate the lunar lander simulator under the shared control paradigm, open a terminal and run

  roslaunch model_based_shared_control model_based_shared_control.launch

3. Online Model-based Shared Control: To run the lunar lander simulator under the online shared control paradigm, open a terminal and run

  roslaunch model_based_shared_control online_model_based_shared_control.launch

Requirements

System

1. PS3 Joystick. Or a similar input device that can provide two dimensional contrinous control signals.
2. ROS. Tested with ROS Indigo and Ubuntu 14.04
3. Python. Tested with Python 2.7
4. sixad

Python

1. numpy
2. pyglet (only used to stop experiment early, easy to remove, and replace, this dependency if you should choose).

C++

1. anaconda

Citing

If you find this code useful in your research, please consider citing:

@inproceedings{broad2018model,
    Author = {Alexander Broad, Ian Abraham, Todd Murphey and Brenna Argall},
    Title = {Model-based Shared Control of Data-driven Human-Machine Systems},
    Booktitle = {},
    Year = {2018}
}

License

The code in this repository is released under the MIT License (refer to the LICENSE file for details).