This repo contains implementations of safe set algorithm (SSA) and interactive simulations.
C. Liu, and M. Tomizuka, "Control in a safe set: addressing safety in human-robot interactions", in Dynamic Systems and Control Conference. ASME, 2014, p. V003T42A003. Preprint
C. Liu, and M. Tomizuka, "Modeling and controller design of cooperative robots in workspace sharing human-robot assembly teams", in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2014, pp. 1386 – 1391. Preprint
run two_agent.m to play with a SCARA robot arm.
Place cursor on top of the blue circles for 3 seconds for calibration (one circle will be at the center, the other will be at the up right corner)
You control the blue agent to pick the blue dots. The SCARA robot is in red. It tries to pick the red dots.
The robot behavior is specified in robot_move.m, which implements on the safe set algorithm.
You may change the setting in two_agent.m to test in diverse environments.
run two_agent.m to play with a mobile robot.
