A Bayesian Optimization Framework for the Automatic Tuning of MPC-based Shared Controllers

Anne van der Horst; Bas Meere; Dinesh Krishnamoorthy; Saray Bakker; Bram van de Vrande; Henry Stoutjesdijk; Marco Alonso; Elena Torta

doi:10.1109/ICRA57147.2024.10610655

A Bayesian Optimization Framework for the Automatic Tuning of MPC-based Shared Controllers

Anne van der Horst, Bas Meere, Dinesh Krishnamoorthy, Saray Bakker, Bram van de Vrande, Henry Stoutjesdijk, Marco Alonso, Elena Torta

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

Abstract

This paper presents a Bayesian optimization framework for the automatic tuning of shared controllers which are defined as a Model Predictive Control (MPC) problem. The proposed framework includes the design of performance metrics as well as the representation of user inputs for simulation-based optimization. The framework is applied to the optimization of a shared controller for an Image Guided Therapy robot. VR-based user experiments confirm the increase in performance of the automatically tuned MPC shared controller with respect to a hand-tuned baseline version as well as its generalization ability.

Original language	English
Title of host publication	2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Publisher	Institute of Electrical and Electronics Engineers
Pages	11259-11265
Number of pages	7
ISBN (Electronic)	979-8-3503-8457-4
DOIs	https://doi.org/10.1109/ICRA57147.2024.10610655
Publication status	Published - 8 Aug 2024
Event	2024 IEEE International Conference on Robotics and Automation, ICRA 2024 - Yokohama, Japan Duration: 13 May 2024 → 17 May 2024

Conference

Conference	2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Country/Territory	Japan
City	Yokohama
Period	13/05/24 → 17/05/24

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10.1109/ICRA57147.2024.10610655

Cite this

van der Horst, A., Meere, B., Krishnamoorthy, D., Bakker, S., van de Vrande, B., Stoutjesdijk, H., Alonso, M., & Torta, E. (2024). A Bayesian Optimization Framework for the Automatic Tuning of MPC-based Shared Controllers. In 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 (pp. 11259-11265). Article 10610655 Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICRA57147.2024.10610655

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title = "A Bayesian Optimization Framework for the Automatic Tuning of MPC-based Shared Controllers",

abstract = "This paper presents a Bayesian optimization framework for the automatic tuning of shared controllers which are defined as a Model Predictive Control (MPC) problem. The proposed framework includes the design of performance metrics as well as the representation of user inputs for simulation-based optimization. The framework is applied to the optimization of a shared controller for an Image Guided Therapy robot. VR-based user experiments confirm the increase in performance of the automatically tuned MPC shared controller with respect to a hand-tuned baseline version as well as its generalization ability.",

author = "{van der Horst}, Anne and Bas Meere and Dinesh Krishnamoorthy and Saray Bakker and {van de Vrande}, Bram and Henry Stoutjesdijk and Marco Alonso and Elena Torta",

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doi = "10.1109/ICRA57147.2024.10610655",

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booktitle = "2024 IEEE International Conference on Robotics and Automation, ICRA 2024",

publisher = "Institute of Electrical and Electronics Engineers",

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van der Horst, A , Meere, B , Krishnamoorthy, D, Bakker, S, van de Vrande, B, Stoutjesdijk, H, Alonso, M & Torta, E 2024, A Bayesian Optimization Framework for the Automatic Tuning of MPC-based Shared Controllers. in 2024 IEEE International Conference on Robotics and Automation, ICRA 2024., 10610655, Institute of Electrical and Electronics Engineers, pp. 11259-11265, 2024 IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, 13/05/24. https://doi.org/10.1109/ICRA57147.2024.10610655

A Bayesian Optimization Framework for the Automatic Tuning of MPC-based Shared Controllers. / van der Horst, Anne ; Meere, Bas ; Krishnamoorthy, Dinesh et al.
2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Institute of Electrical and Electronics Engineers, 2024. p. 11259-11265 10610655.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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van der Horst A , Meere B , Krishnamoorthy D, Bakker S, van de Vrande B, Stoutjesdijk H et al. A Bayesian Optimization Framework for the Automatic Tuning of MPC-based Shared Controllers. In 2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Institute of Electrical and Electronics Engineers. 2024. p. 11259-11265. 10610655 doi: 10.1109/ICRA57147.2024.10610655

A Bayesian Optimization Framework for the Automatic Tuning of MPC-based Shared Controllers

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