# Limited Information Shared Control: A Potential Game Approach

arXiv: https://arxiv.org/abs/2201.06651 · HTML: https://mlsanity.com/paper/2201.06651/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 17 Jan 2022.

## Built on by (most cited first, 1 of 1)

- [Intention-Aware Decision-Making for Mixed Intersection Scenarios](https://mlsanity.com/paper/2303.17493/) (2023)

## Abstract (arXiv)

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 trajectories are measurable by the automation. Typical examples are partially human-controlled systems, in which some subsystems are fully controlled by automation while others are controlled by a human. The proposed systematic design method uses a novel class of games to model human-machine interaction: the near potential differential games (NPDG). We provide a necessary and sufficient condition for the existence of an NPDG and derive an algorithm for finding a NPDG that completely describes a given differential game. The proposed design method is applied to the control of a large vehicle-manipulator system, in which the manipulator is controlled by a human operator and the vehicle is fully automated. The suitability of the NPDG to model differential games is verified in simulations, leading to a faster and more accurate controller design compared to manual tuning. Furthermore, the overall design process is validated in a study with sixteen test subjects, indicating the applicability of the proposed concept in real applications.