24 citations · 64 across the 16 of their papers we have counts for
18 papers
A Reinforcement Learning Framework for Safety-Aware Haptic Shared Control in Surgical Robotics
Zihao Zhang, Karl Handwerker, Balint Varga
Haptic shared control in surgical robotics combines human-side and robot-side forces at a shared end effector while preserving operator involvement. However, the effects of geometr…
Approximate Feedback Nash Equilibria in Constrained Differential Games via Model Predictive Control with Upper Bound Guarantees
Balint Varga, Karl Handwerker, Imre Rudas +1
Physical human--machine interaction and other multi-agent control settings require decision-making policies that adapt online. Differential games provide a principled framework whe…
Policy Iteration for Linear-Quadratic Stochastic Differential Games with State- and Control-Dependent Noise
Karl Handwerker, Felix Thömmes, Lucas Günther +2
This paper presents a novel sequential policy iteration (PI) method for stochastic differential games with state- and control-dependent noise. The updates preserve mean-square stab…
Infinite-Horizon Inverse Linear-Quadratic Differential Games with State- and Control-Dependent Noise
Lucas Günther, Karl Handwerker, Felix Thömmes +2
This paper presents a method to solve the inverse problem for N-player infinite-horizon linear-quadratic (LQ) differential games with state- and control-dependent noise. For this s…
Locomotion Variability and User Experience in Smart Wheelchair Human-Robot Interaction
Sean Kille, Adina M. Panchea, Balint Varga +1
Human movement is inherently variable, with variability structured according to task relevance: movements are typically more consistent at task-critical points and more flexible el…
The Role of Variability in Human-Machine Interaction Experience
Sean Kille, Jan Lars Hagemann, Anne Voormann +3
Human-machine interaction (HMI) requires control strategies that account for the nature of human motor behavior. Conventional shared-control and haptic-assistance methods typically…
Inverse Linear-Quadratic Gaussian Differential Games
Lucas Günther, Felix Thömmes, Karl Handwerker +2
This paper presents a method for solving the Inverse Stochastic Differential Game (ISDG) problem in finite-horizon linear-quadratic Gaussian (LQG) differential games. The objective…
Beyond Task Performance: Human Experience in Human-Robot Collaboration
Sean Kille, Jan Heinrich Robens, Philipp Dahlinger +8
Human interaction experience plays a crucial role in the effectiveness of human-machine collaboration, especially as interactions in future systems progress towards tighter physica…
Personalized and Demand-Based Education Concept: Practical Tools for Control Engineers
Balint Varga, Lars Fischer, Levente Kovacs
This paper presents a personalized lecture concept using educational blocks and its demonstrative application in a new university lecture. Higher education faces daily challenges:…
Interaction-Aware Model Predictive Decision-Making for Socially-Compliant Autonomous Driving in Mixed Urban Traffic Scenarios
Balint Varga, Thomas Brand, Marcus Schmitz +1
Autonomous vehicles must negotiate with pedestrians in ways that are both safe and socially compliant. We present an interaction-aware model predictive decision-making (IAMPDM) fra…
Offline and Online Nonlinear Inverse Differential Games with Known and Approximated Cost and Value Function Structures
Philipp Karg, Balint Varga, Sören Hohmann
In this work, we propose novel offline and online Inverse Differential Game (IDG) methods for nonlinear Differential Games (DG), which identify the cost functions of all players fr…
Cooperative Trajectory Planning: Principles for Human-Machine System Design on Trajectory Level
Julian Schneider, Balint Varga, Sören Hohmann
This paper explores cooperative trajectory planning approaches within the context of human-machine shared control. In shared control research, it is typically assumed that the huma…
Human-Variability-Respecting Optimal Control for Physical Human-Machine Interaction
Sean Kille, Paul Leibold, Philipp Karg +2
Physical Human-Machine Interaction plays a pivotal role in facilitating collaboration across various domains. When designing appropriate model-based controllers to assist a human i…
Toward Adaptive Cooperation: Model-Based Shared Control Using LQ-Differential Games
Balint Varga
This paper introduces a novel model-based adaptive shared control to allow for the identification and design challenge for shared-control systems, in which humans and automation sh…
Cooperative Decision-Making in Shared Spaces: Making Urban Traffic Safer through Human-Machine Cooperation
Balint Varga, Dongxu Yang, Sören Hohmann
In this paper, a cooperative decision-making is presented, which is suitable for intention-aware automated vehicle functions. With an increasing number of highly automated and auto…
Intention-Aware Decision-Making for Mixed Intersection Scenarios
Balint Varga, Dongxu Yang, Soeren Hohmann
This paper presents a white-box intention-aware decision-making for the handling of interactions between a pedestrian and an automated vehicle (AV) in an unsignalized street crossi…
Development of a Mobile Vehicle Manipulator Simulator for the Validation of Shared Control Concepts
Balint Varga, Selina Meier, Soeren Hohmann
This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the la…
Limited Information Shared Control: A Potential Game Approach
Balint Varga, Jairo Inga, Soeren Hohmann
This paper presents a systematic method for the design of a limited information shared control (LISC). LISC is used in applications where not all system states or reference traject…