To address the safety issues in human robot interactions (HRI), a safe set algorithm (SSA) was developed previously. However, during HRI, the uncertainty levels are changing in different phases of the interaction, which is not captured by SSA. A safe exploration algorithm (SEA) is proposed in this paper to address the uncertainty levels in the robot control. To estimate the uncertainty levels online, a learning method in the belief space is developed. A comparative study between SSA and SEA is conducted. The simulation results confirm that SEA can capture the uncertainty reduction behavior which is observed in human-human interactions.
American Controls Conference, 2015