Human in the Loop Least Violating Robot Control Synthesis under Metric Interval Temporal Logic Specifications

Recently, multiple frameworks for control synthesis under temporal logic have been suggested. The frameworks allow a user to give one or a set of robots high level tasks of different properties (e.g. temporal, time limited, individual and cooperative). However, the issue of how to handle tasks, which either seem to be or are infeasible, remains unsolved. In this paper we introduce a human to the loop, using the human's feedback to determine preference towards different types of violations of the tasks. We introduce a metric of violation called hybrid distance. We also suggest a novel framework for synthesizing a least violating controller with respect to the hybrid distance and the human feedback. Simulation result indicate that the suggested framework gives reasonable estimates of the metric, and that the suggested plans correspond to the expected ones.