Towards Safe Human-Quadrotor Interaction: Mixed-Initiative Control via Real-Time NMPC

This article presents a novel algorithm for blending human inputs and automatic controller commands, guaranteeing safety in mixed-initiative interactions between humans quadrotors. The is based on nonlinear model predictive control (NMPC) involves using the state solution to assess whether safety- and/or task-related rules are met mix authority. mixing attained through convex combination of actual robot costs driven by continuous function that measures rules' violation. To achieve real-time feasibility, we rely an efficient iteration (RTI) variant sequential quadratic programming (SQP) scheme cast controller. We demonstrate effectiveness our numerical simulations, where second autonomous used emulate behavior pilots with different skill levels. Simulations show provides suitable assistance pilots, especially novices, workspace obstacles while bolstering computational efficiency.