{"id":"https://openalex.org/W2963887013","doi":"https://doi.org/10.1109/icra.2018.8460793","title":"Human-in-the-Loop Mixed-Initiative Control Under Temporal Tasks","display_name":"Human-in-the-Loop Mixed-Initiative Control Under Temporal Tasks","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2963887013","doi":"https://doi.org/10.1109/icra.2018.8460793","mag":"2963887013"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032581175","display_name":"Meng Guo","orcid":"https://orcid.org/0000-0003-4562-854X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Meng Guo","raw_affiliation_strings":["ACCESS Linnaeus Center, KTH Royal Institute of Technology, Sweden"],"affiliations":[{"raw_affiliation_string":"ACCESS Linnaeus Center, KTH Royal Institute of Technology, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103329570","display_name":"Sofie Andersson","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Sofie Andersson","raw_affiliation_strings":["ACCESS Linnaeus Center, KTH Royal Institute of Technology, Sweden"],"affiliations":[{"raw_affiliation_string":"ACCESS Linnaeus Center, KTH Royal Institute of Technology, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055348953","display_name":"Dimos V. Dimarogonas","orcid":"https://orcid.org/0000-0001-7309-8086"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Dimos V. Dimarogonas","raw_affiliation_strings":["ACCESS Linnaeus Center, KTH Royal Institute of Technology, Sweden"],"affiliations":[{"raw_affiliation_string":"ACCESS Linnaeus Center, KTH Royal Institute of Technology, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5032581175"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":1.71583982,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.85512319,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6395","last_page":"6400"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8006422519683838},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6771129965782166},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6684832572937012},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6146856546401978},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5791923999786377},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.515505850315094},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5148802995681763},{"id":"https://openalex.org/keywords/linear-temporal-logic","display_name":"Linear temporal logic","score":0.4642335772514343},{"id":"https://openalex.org/keywords/preference","display_name":"Preference","score":0.45873773097991943},{"id":"https://openalex.org/keywords/human-in-the-loop","display_name":"Human-in-the-loop","score":0.45533010363578796},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4518822431564331},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.449984073638916},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4487336575984955},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4428306221961975},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.42910367250442505},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.423501580953598},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.42175018787384033},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4161275625228882},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37436890602111816},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2082746922969818},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1670398712158203},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1577012836933136}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8006422519683838},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6771129965782166},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6684832572937012},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6146856546401978},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5791923999786377},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.515505850315094},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5148802995681763},{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.4642335772514343},{"id":"https://openalex.org/C2781249084","wikidata":"https://www.wikidata.org/wiki/Q908656","display_name":"Preference","level":2,"score":0.45873773097991943},{"id":"https://openalex.org/C2780626000","wikidata":"https://www.wikidata.org/wiki/Q5936775","display_name":"Human-in-the-loop","level":2,"score":0.45533010363578796},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4518822431564331},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.449984073638916},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4487336575984955},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4428306221961975},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.42910367250442505},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.423501580953598},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.42175018787384033},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4161275625228882},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37436890602111816},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2082746922969818},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1670398712158203},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1577012836933136},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2018.8460793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1498432697","https://openalex.org/W1540883472","https://openalex.org/W1548924950","https://openalex.org/W1970269621","https://openalex.org/W2071797744","https://openalex.org/W2072931689","https://openalex.org/W2076738229","https://openalex.org/W2077245982","https://openalex.org/W2077578897","https://openalex.org/W2097978498","https://openalex.org/W2099019320","https://openalex.org/W2151958719","https://openalex.org/W2169498096","https://openalex.org/W2343223723","https://openalex.org/W2560346987","https://openalex.org/W2963751010","https://openalex.org/W2964239424","https://openalex.org/W4205559380","https://openalex.org/W4211092921","https://openalex.org/W4214717370","https://openalex.org/W6674844206","https://openalex.org/W6729225221"],"related_works":["https://openalex.org/W4377866454","https://openalex.org/W2113355126","https://openalex.org/W4388430323","https://openalex.org/W2559881192","https://openalex.org/W3113143399","https://openalex.org/W4388624165","https://openalex.org/W2621386530","https://openalex.org/W2148892780","https://openalex.org/W3097029141","https://openalex.org/W2586362452"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"the":[3,42,53,94,101,117,122,126,129],"motion":[4],"control":[5],"and":[6,17,35,56,96,106,141],"task":[7,22,59],"planning":[8],"problem":[9],"of":[10,33,79],"mobile":[11],"robots":[12],"under":[13],"complex":[14],"high-level":[15],"tasks":[16,98],"human":[18,39,81,123],"initiatives.":[19],"The":[20,38,132],"assigned":[21,99],"is":[23],"specified":[24],"as":[25],"Linear":[26],"Temporal":[27],"Logic":[28],"(LTL)":[29],"formulas":[30],"that":[31,67,74,88,115],"consist":[32],"hard":[34],"soft":[36],"constraints.":[37],"initiative":[40],"influences":[41],"robot":[43,118],"autonomy":[44],"in":[45,52,93],"two":[46],"explicit":[47],"ways:":[48],"with":[49,57],"additive":[50],"terms":[51],"continuous":[54,72],"controller":[55,73],"contingent":[58],"assignments.":[60],"We":[61],"propose":[62],"an":[63,108],"online":[64],"coordination":[65],"scheme":[66,87],"encapsulates":[68],"(i)":[69],"a":[70,84],"mixed-initiative":[71],"ensures":[75],"all-time":[76],"safety":[77],"despite":[78],"possible":[80],"errors,":[82],"(ii)":[83],"plan":[85,130],"adaptation":[86],"accommodates":[89],"new":[90],"features":[91],"discovered":[92],"workspace":[95],"short-term":[97],"by":[100,136],"operator":[102],"during":[103,128],"run":[104],"time,":[105],"(iii)":[107],"iterative":[109],"inverse":[110],"reinforcement":[111],"learning":[112],"(IRL)":[113],"algorithm":[114],"allows":[116],"to":[119],"asymptotically":[120],"learn":[121],"preference":[124],"on":[125],"parameters":[127],"synthesis.":[131],"results":[133],"are":[134],"demonstrated":[135],"both":[137],"realistic":[138],"human-in-the-loop":[139],"simulations":[140],"experiments.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
