{"id":"https://openalex.org/W2918499940","doi":"https://doi.org/10.1109/iros40897.2019.8968002","title":"Toward Achieving Formal Guarantees for Human-Aware Controllers in Human-Robot Interactions","display_name":"Toward Achieving Formal Guarantees for Human-Aware Controllers in Human-Robot Interactions","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2918499940","doi":"https://doi.org/10.1109/iros40897.2019.8968002","mag":"2918499940"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/1903.01350","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036920653","display_name":"Rachel Schlossman","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Rachel Schlossman","raw_affiliation_strings":["University of Texas at Austin,Departments of Mechanical Engineering (R.S., M.K.) or Aerospace Engineering (U.T., L.S.),Austin,USA,TX 78712-0292","University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin,Departments of Mechanical Engineering (R.S., M.K.) or Aerospace Engineering (U.T., L.S.),Austin,USA,TX 78712-0292","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082312806","display_name":"Minkyu Kim","orcid":"https://orcid.org/0000-0001-9317-1658"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Minkyu Kim","raw_affiliation_strings":["University of Texas at Austin,Departments of Mechanical Engineering (R.S., M.K.) or Aerospace Engineering (U.T., L.S.),Austin,USA,TX 78712-0292"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin,Departments of Mechanical Engineering (R.S., M.K.) or Aerospace Engineering (U.T., L.S.),Austin,USA,TX 78712-0292","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068441112","display_name":"Ufuk Topcu","orcid":"https://orcid.org/0000-0003-0819-9985"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ufuk Topcu","raw_affiliation_strings":["University of Texas at Austin,Departments of Mechanical Engineering (R.S., M.K.) or Aerospace Engineering (U.T., L.S.),Austin,USA,TX 78712-0292"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin,Departments of Mechanical Engineering (R.S., M.K.) or Aerospace Engineering (U.T., L.S.),Austin,USA,TX 78712-0292","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079374033","display_name":"Luis Sentis","orcid":"https://orcid.org/0000-0003-2856-4863"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["University of Texas at Austin,Departments of Mechanical Engineering (R.S., M.K.) or Aerospace Engineering (U.T., L.S.),Austin,USA,TX 78712-0292"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin,Departments of Mechanical Engineering (R.S., M.K.) or Aerospace Engineering (U.T., L.S.),Austin,USA,TX 78712-0292","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5036920653"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":0.3992,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.62387027,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"7770","last_page":"7776"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.9968000054359436,"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"}},{"id":"https://openalex.org/T11450","display_name":"Model-Driven Software Engineering Techniques","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/robot","display_name":"Robot","score":0.6655920743942261},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6638739109039307},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.6255553960800171},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5594990253448486},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.510097324848175},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.4962766766548157},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48043322563171387},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45740795135498047},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.43907031416893005},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.4374648630619049},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41977059841156006},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.337303102016449},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.32072076201438904},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2752509117126465},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15902727842330933},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.13940086960792542}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6655920743942261},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6638739109039307},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.6255553960800171},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5594990253448486},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.510097324848175},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.4962766766548157},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48043322563171387},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45740795135498047},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.43907031416893005},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.4374648630619049},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41977059841156006},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.337303102016449},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.32072076201438904},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2752509117126465},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15902727842330933},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.13940086960792542},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C136264566","wikidata":"https://www.wikidata.org/wiki/Q159810","display_name":"Economy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros40897.2019.8968002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1903.01350","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.01350","pdf_url":"https://arxiv.org/pdf/1903.01350","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:2918499940","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1903.01350","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.1903.01350","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1903.01350","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:1903.01350","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.01350","pdf_url":"https://arxiv.org/pdf/1903.01350","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":0.7099999785423279,"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320322037","display_name":"Nuclear Safety and Security Commission","ror":"https://ror.org/05qk3ge34"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2918499940.pdf","grobid_xml":"https://content.openalex.org/works/W2918499940.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1498432697","https://openalex.org/W2059993653","https://openalex.org/W2295204826","https://openalex.org/W2323089860","https://openalex.org/W2410313329","https://openalex.org/W2476245236","https://openalex.org/W2562147820","https://openalex.org/W2565370028","https://openalex.org/W2569743524","https://openalex.org/W2575625225","https://openalex.org/W2593618430","https://openalex.org/W2599509318","https://openalex.org/W2634562980","https://openalex.org/W2734616037","https://openalex.org/W2775497185","https://openalex.org/W2781634994","https://openalex.org/W2783036728","https://openalex.org/W2887085988","https://openalex.org/W2896381102","https://openalex.org/W2964132611","https://openalex.org/W3023554972","https://openalex.org/W6732019219","https://openalex.org/W6777095389"],"related_works":["https://openalex.org/W3003376548","https://openalex.org/W2022850652","https://openalex.org/W2161929123","https://openalex.org/W2805911780","https://openalex.org/W2229618818","https://openalex.org/W2040672007","https://openalex.org/W2594336441","https://openalex.org/W2784743256","https://openalex.org/W2221866689","https://openalex.org/W1554682999","https://openalex.org/W1583176730","https://openalex.org/W2025370287","https://openalex.org/W2290706396","https://openalex.org/W1996442782","https://openalex.org/W3206703428","https://openalex.org/W3100365483","https://openalex.org/W2790371374","https://openalex.org/W2793405567","https://openalex.org/W2265773750","https://openalex.org/W1504361629"],"abstract_inverted_index":{"With":[0],"the":[1,24,30,60,72,127,145,155],"primary":[2],"objective":[3],"of":[4,32,62,75,81,157],"human-robot":[5],"interaction":[6],"being":[7],"to":[8,16,42,65,70,94,165],"support":[9,71],"humans'":[10],"goals,":[11],"there":[12],"exists":[13],"a":[14,111,119,148,158],"need":[15],"formally":[17],"synthesize":[18,95],"robot":[19,48,68,128,160],"controllers":[20,49,69,96],"that":[21,97,101,126,162],"can":[22],"provide":[23],"desired":[25],"service.":[26],"Synthesis":[27],"techniques":[28,45],"have":[29],"benefit":[31],"providing":[33],"formal":[34,63,99],"guarantees":[35],"for":[36,46],"specification":[37],"satisfaction.":[38],"There":[39],"is":[40,163],"potential":[41],"apply":[43],"these":[44,79],"devising":[47],"whose":[50],"specifications":[51,100],"are":[52,102],"coupled":[53],"with":[54,173],"human":[55,84,174],"needs.":[56],"This":[57,90],"paper":[58],"explores":[59],"use":[61],"methods":[64],"construct":[66],"human-aware":[67],"productivity":[73],"requirements":[74],"humans.":[76],"We":[77,109,140],"tackle":[78],"types":[80],"scenarios":[82],"via":[83],"workload-informed":[85],"models":[86],"and":[87,122,168],"reactive":[88],"synthesis.":[89],"strategy":[91],"allows":[92],"us":[93],"fulfill":[98],"expressed":[103],"as":[104],"linear":[105],"temporal":[106],"logic":[107],"formulas.":[108],"present":[110],"case":[112],"study":[113],"in":[114,170],"which":[115],"we":[116],"reason":[117,167],"about":[118],"work":[120,138],"delivery":[121],"pickup":[123],"task":[124],"such":[125],"increases":[129],"worker":[130],"productivity,":[131],"but":[132],"not":[133],"stress":[134],"induced":[135],"by":[136],"high":[137],"backlog.":[139],"demonstrate":[141,154],"our":[142],"controller":[143,161],"using":[144],"Toyota":[146],"HSR,":[147],"mobile":[149],"manipulator":[150],"robot.":[151],"The":[152],"results":[153],"realization":[156],"robust":[159],"guaranteed":[164],"properly":[166],"react":[169],"collaborative":[171],"tasks":[172],"partners.":[175]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
