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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

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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.

Originele taal-2	Engels
Titel	2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Uitgeverij	Institute of Electrical and Electronics Engineers
Pagina's	11259-11265
Aantal pagina's	7
ISBN van elektronische versie	979-8-3503-8457-4
DOI's	https://doi.org/10.1109/ICRA57147.2024.10610655
Status	Gepubliceerd - 8 aug. 2024
Evenement	2024 IEEE International Conference on Robotics and Automation, ICRA 2024 - Yokohama, Japan Duur: 13 mei 2024 → 17 mei 2024

Congres

Congres	2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Land/Regio	Japan
Stad	Yokohama
Periode	13/05/24 → 17/05/24

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10.1109/ICRA57147.2024.10610655

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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 (blz. 11259-11265). Artikel 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",

language = "English",

pages = "11259--11265",

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, blz. 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. blz. 11259-11265 10610655.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › 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. blz. 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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