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MISC: Minimal Intervention Shared Control with Guaranteed Safety under Non-Convex Constraints
Shivam Chaubey, Francesco Verdoja, Shankar Deka, Ville Kyrki
https://arxiv.org/abs/2507.02438

MISC: Minimal Intervention Shared Control with Guaranteed Safety under Non-Convex Constraints
Shared control combines human intention with autonomous decision-making, from low-level safety overrides to high-level task guidance, enabling systems that adapt to users while ensuring safety and performance. This enhances task effectiveness and user experience across domains such as assistive robotics, teleoperation, and autonomous driving. However, existing shared control methods, based on e.g. Model Predictive Control, Control Barrier Functions, or learning-based control, struggle with feas…