Dr.-Ing. Jairo Inga Charaja
- Head of Research Group
- Group:
- Room: Geb. 30.33 (ITE) Raum 208
- Phone: +49 721 608 - 43095
- Fax: +49 721 608 - 42707
- jairo ingaZbi4∂kit edu
Karlsruher Institut für Technologie (KIT)
Campus Süd
Institut für Regelungs- und Steuerungssysteme
Geb. 11.20 (Engler-Villa)
Kaiserstr. 12
D-76131 Karlsruhe
Curriculum Vitae
Studies of electrical engineering and information technology at Karlsruhe Institute of Technology (KIT). Bachelor’s thesis at the Light Technology Institute (LTI) on thermal characterization of LED systems (2011). Internship at Daimler AG in the Truck Powertrain E/E Development Department. Master’s thesis at the Institute of Control Systems (IRS) on the prediction of steering behavior using a model based on driver-specific movement primitives (2014). Member of the scientific staff of IRS since February 2015; PhD thesis: “Methods for inverse dynamic games with application to cooperative systems identification”.
Head of the research group “Cooperative Systems” since May 2020.
Research
Modeling, Identification and Adaption in Cooperative Control Systems
Automation trends are increasingly including a close interaction and cooperation between automated systems and people in order to exploit their respective strengths. This yields a great potential for broad application in, for example, innovative driver assistance systems, the development of intelligent machine tools and robot-assisted rehabilitation in medicine.
Successful human-machine interaction demands a suitable model for describing the behavior of the cooperating human. This model can be used to identify the model parameters that explain the behavior of an individual person. On this basis, the machine can be optimally adapted for safe and effective cooperation. Dynamic game theory provides a powerful mathematical framework with great potential for an application in this field.
My research focuses on the following:
- Modeling cooperative systems using dynamic game theory
- Investigation of reinforcement learning approaches to describe adaptation processes
- Online identification in cooperative systems through the efficient solution of inverse dynamic games
- Development of game-theoretical methods for intention detection based on measurement data
- The application of these methods for identifying human behavior during a cooperation with machines
Publications
-
Adaptive Optimal Trajectory Tracking Control of Continuous-Time Systems.
Bührle, E.; Köpf, F.; Inga, J.; Hohmann, S.
2021. 19th European Control Conference, June 29 - July 2, 2021, Rotterdam, Virtual Conference -
Adaptive Optimal Trajectory Tracking Control Applied to a Large-Scale Ball-on-Plate System.
Köpf, F.; Kille, S.; Inga, J.; Hohmann, S.
2021. Proceedings of the 2021 American Control Conference (ACC), 26th - 28th May, New Orleans, LA
-
The n-Stage War of Attrition and its Inverse Game Towards its Application in Human-Machine Cooperative Decision Making.
Rothfuß, S.; Tanaka, T. S.; Inga, J.; Hohmann, S.
2020. 2020 59th IEEE Conference on Decision and Control (CDC), Jeju Island, Korea (South), Korea (South), 14-18 Dec. 2020, 5386–5393, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CDC42340.2020.9303952 -
Inverse Dynamic Game Methods for Identification of Cooperative System Behavior. PhD dissertation.
Inga Charaja, J. J.
2020, November 3. Karlsruher Institut für Technologie (KIT). doi:10.5445/IR/1000125587 -
A Study on Human-Machine Cooperation on Decision Level.
Rothfuß, S.; Wörner, M.; Inga, J.; Hohmann, S.
2020. 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Toronto, ON, Canada, 11-14 Oct. 2020, 2291–2298, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SMC42975.2020.9282813 -
A Cooperative Assistant System with Smoothly Shifting Control Authority Based on Partially Observable Markov Decision Processes.
Braun, C. A.; Bohn, C.; Inga, J.; Hohmann, S.
2020. 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Toronto, ON, Canada, October 11–14, 2020., 806–811, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SMC42975.2020.9283176 -
Multi-Robot Task Allocation and Scheduling Considering Cooperative Tasks and Precedence Constraints.
Bischoff, E.; Meyer, F.; Inga, J.; Hohmann, S.
2020. 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Toronto, ON, Canada, October 11–14, 2020., 3949–3956, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SMC42975.2020.9283215 -
Inverse Open-Loop Noncooperative Differential Games and Inverse Optimal Control.
Molloy, T. L.; Inga, J.; Flad, M.; Ford, J.; Perez, T.; Hohmann, S.
2020. IEEE transactions on automatic control, 65 (2), 897–904. doi:10.1109/TAC.2019.2921835
-
Validation of a Human Cooperative Steering Behavior Model Based on Differential Games.
Inga, J.; Flad, M.; Hohmann, S.
2019. IEEE International Conference on Systems, Man, and Cybernetics (IEEE SMC 2019), Bari, I, October 6-9, 2019, 3124–3129, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SMC.2019.8914574 -
Solution Sets for Inverse Non-Cooperative Linear-Quadratic Differential Games.
Inga, J.; Bischoff, E.; Molloy, T. L.; Flad, M.; Hohmann, S.
2019. IEEE Control Systems Letters, 3 (4), 871 – 876. doi:10.1109/LCSYS.2019.2919271 -
Model-Based Control of a Large-Scale Ball-on-Plate System With Experimental Validation.
Kastner, A.; Inga, J.; Blauth, T.; Köpf, F.; Flad, M.; Hohmann, S.
2019. IEEE International Conference on Mechatronics (ICM ), 257–262, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICMECH.2019.8722850
-
Evaluating Human Behavior in Manual and Shared Control via Inverse Optimization.
Inga, J.; Eitel, M.; Flad, M.; Hohmann, S.
2018. 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2699–2704, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SMC.2018.00461 -
Identifikation in Differentialspielen basierend auf inverser Optimalsteuerung.
Inga, J.; Hohmann, S.
2018, February 22. 52. Regelungstechnisches Kolloquium (2018), Boppard, Germany, February 21–23, 2018
-
Individual Human Behavior Identification Using an Inverse Reinforcement Learning Method.
Inga, J.; Köpf, F.; Flad, M.; Hohmann, S.
2017. IEEE International Conference on Systems, Man and Cybernetics (SMC), Banff, AB, Canada, 5–8 October 2017, 99–104, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SMC.2017.8122585 -
Inverse Reinforcement Learning for Identification in Linear-Quadratic Dynamic Games.
Köpf, F.; Inga, J.; Rothfuß, S.; Flad, M.; Hohmann, S.
2017. IFAC-PapersOnLine, 50 (1), 14902–14908. doi:10.1016/j.ifacol.2017.08.2537 -
Inverse Optimal Control for Identification in Non-Cooperative Differential Games.
Rothfuß, S.; Inga, J.; Köpf, F.; Flad, M.; Hohmann, S.
2017. IFAC-PapersOnLine, 50 (1), 14909–14915. doi:10.1016/j.ifacol.2017.08.2538 -
Inverse Optimierung in linear-quadratischen dynamischen Spielen.
Inga, J.; Rothfuß, S.; Köpf, F.; Hohmann, S.
2017. GMA-Fachausschuss 1.50 Workshop "Grundlagen vernetzter Systeme", Günzburg, 29.-31. Mai 2017
-
Modellierung und Identifikation mithilfe eines erweiterten schaltenden autoregressiven Systems.
Inga, J.; Hohmann, S.
2016. GMA-Fachausschuss 1.30 Workshop, Anif/Salzburg,19.-21. September 2016
-
Gray-Box Driver Modeling and Prediction: Benefits of Steering Primitives.
Inga, J.; Flad, M.; Diehm, G.; Hohmann, S.
2015. 2015 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Kowloon Tong, Hong Kong, 9–12 October 2015, 3054–3059, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SMC.2015.531