{"id":"https://openalex.org/W2802125430","doi":"https://doi.org/10.1109/iros.2018.8593865","title":"Modeling Supervisor Safe Sets for Improving Collaboration in Human-Robot Teams","display_name":"Modeling Supervisor Safe Sets for Improving Collaboration in Human-Robot Teams","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2802125430","doi":"https://doi.org/10.1109/iros.2018.8593865","mag":"2802125430"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593865","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1805.03328","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028755337","display_name":"David L. McPherson","orcid":"https://orcid.org/0000-0002-6333-6914"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"David L. McPherson","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of California, Berkeley","Dept. of Electrical Engineering and Computer Science, Univ. of California, Berkeley,"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Electrical Engineering and Computer Science, Univ. of California, Berkeley,","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078990907","display_name":"Dexter R. R. Scobee","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dexter R.R. Scobee","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of California, Berkeley","Dept. of Electrical Engineering and Computer Science, Univ. of California, Berkeley,"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Electrical Engineering and Computer Science, Univ. of California, Berkeley,","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077682282","display_name":"Joseph Menke","orcid":"https://orcid.org/0000-0002-7374-7549"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph Menke","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of California, Berkeley","Dept. of Electrical Engineering and Computer Science, Univ. of California, Berkeley,"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Electrical Engineering and Computer Science, Univ. of California, Berkeley,","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107790029","display_name":"Allen Y. Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allen Y. Yang","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of California, Berkeley","Dept. of Electrical Engineering and Computer Science, Univ. of California, Berkeley,"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Electrical Engineering and Computer Science, Univ. of California, Berkeley,","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103101043","display_name":"S. Shankar Sastry","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Shankar Sastry","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of California, Berkeley","University of California\u2013Berkeley"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California\u2013Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5028755337"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":1.1287,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.79991398,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"861","last_page":"868"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9962999820709229,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9914000034332275,"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/supervisor","display_name":"Supervisor","score":0.9583709239959717},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7383445501327515},{"id":"https://openalex.org/keywords/false-positive-paradox","display_name":"False positive paradox","score":0.6947338581085205},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6102321147918701},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.606660008430481},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5867339968681335},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.49889683723449707},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4330800175666809},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4317919611930847},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08243083953857422}],"concepts":[{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.9583709239959717},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7383445501327515},{"id":"https://openalex.org/C64869954","wikidata":"https://www.wikidata.org/wiki/Q1859747","display_name":"False positive paradox","level":2,"score":0.6947338581085205},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6102321147918701},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.606660008430481},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5867339968681335},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.49889683723449707},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4330800175666809},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4317919611930847},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08243083953857422},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2018.8593865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593865","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1805.03328","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1805.03328","pdf_url":"https://arxiv.org/pdf/1805.03328","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2802125430","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1805.03328","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1805.03328","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1805.03328","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1805.03328","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1805.03328","pdf_url":"https://arxiv.org/pdf/1805.03328","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.44999998807907104,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320333591","display_name":"Multidisciplinary University Research Initiative","ror":null},{"id":"https://openalex.org/F4320336030","display_name":"Philippine-California Advanced Research Institutes","ror":null},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2802125430.pdf","grobid_xml":"https://content.openalex.org/works/W2802125430.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W168874853","https://openalex.org/W1837766154","https://openalex.org/W1970916399","https://openalex.org/W1975236902","https://openalex.org/W1995408953","https://openalex.org/W1999874108","https://openalex.org/W2054620958","https://openalex.org/W2059100041","https://openalex.org/W2067265108","https://openalex.org/W2082139649","https://openalex.org/W2098774185","https://openalex.org/W2105925198","https://openalex.org/W2143361975","https://openalex.org/W2169520095","https://openalex.org/W2298907094","https://openalex.org/W2604410735","https://openalex.org/W2611136914","https://openalex.org/W2725690131","https://openalex.org/W2769520592","https://openalex.org/W2951930445","https://openalex.org/W2962896691","https://openalex.org/W2963286335","https://openalex.org/W2963507484","https://openalex.org/W6644075784","https://openalex.org/W6674884181","https://openalex.org/W6737214707","https://openalex.org/W6746419623"],"related_works":["https://openalex.org/W2963985883","https://openalex.org/W2337193462","https://openalex.org/W36944119","https://openalex.org/W1737426964","https://openalex.org/W1978539537","https://openalex.org/W1993942165","https://openalex.org/W2400591702","https://openalex.org/W2917238100","https://openalex.org/W3204336908","https://openalex.org/W3126549679","https://openalex.org/W2463438087","https://openalex.org/W2805911780","https://openalex.org/W2963569498","https://openalex.org/W2900130568","https://openalex.org/W3083419764","https://openalex.org/W2913843368","https://openalex.org/W2228655599","https://openalex.org/W3006016505","https://openalex.org/W2977661841","https://openalex.org/W2586908376"],"abstract_inverted_index":{"When":[0,85],"a":[1,6,20,52,55,75,86,112,117,132,180,185,199],"human":[2,49,113],"supervisor":[3,46,53,94,114,125,171],"collaborates":[4],"with":[5,179],"team":[7],"of":[8,28,34,43,60,100,165],"robots,":[9],"the":[10,26,32,41,61,62,92,104,140,163],"human's":[11],"attention":[12],"is":[13],"divided,":[14],"and":[15,31,144],"cognitive":[16],"resources":[17,30],"are":[18],"at":[19],"premium.":[21],"We":[22,68,152],"aim":[23],"to":[24,47,65,97,119,148,158,198],"optimize":[25],"distribution":[27],"these":[29,70],"flow":[33],"attention.":[35,126],"To":[36],"this":[37,79,89,128],"end,":[38],"we":[39,130,174],"propose":[40,131],"model":[42,59,81],"an":[44],"idealized":[45,93,170],"describe":[48],"behavior.":[50,151],"Such":[51],"employs":[54],"potentially":[56],"inaccurate":[57],"internal":[58,80],"robots'":[63],"dynamics":[64],"judge":[66],"safety.":[67],"represent":[69],"safety":[71,201],"judgements":[72],"by":[73,138],"constructing":[74],"safe":[76,90,142],"set":[77,143],"from":[78],"using":[82,145],"reachability":[83],"theory.":[84],"robot":[87,105,118,150],"leaves":[88],"set,":[91],"will":[95,161],"intervene":[96],"assist,":[98],"regardless":[99],"whether":[101],"or":[102],"not":[103],"remains":[106],"objectively":[107],"safe.":[108],"False":[109],"positives,":[110],"where":[111],"incorrectly":[115],"judges":[116],"be":[120],"in":[121,191],"danger,":[122],"needlessly":[123],"consume":[124],"In":[127],"work,":[129],"method":[133,196],"that":[134,146,154,183],"decreases":[135],"false":[136,166,192],"positives":[137,167,193],"learning":[139],"supervisor's":[141],"information":[147],"govern":[149],"prove":[153],"robots":[155],"behaving":[156],"according":[157],"our":[159,169,177,195],"approach":[160,178],"reduce":[162],"occurrence":[164],"for":[168,194],"model.":[172],"Furthermore,":[173],"empirically":[175],"validate":[176],"user":[181],"study":[182],"demonstrates":[184],"significant":[186],"(p":[187],"=":[188],"0.0328)":[189],"reduction":[190],"compared":[197],"baseline":[200],"controller.":[202]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
