Flexible POMDP Framework for Human-Robot Cooperation in Escort Tasks
Pages 1538 - 1540
Abstract
We describe a novel method for ensuring cooperation between human and robot. First, we present a flexible and hierarchical framework based on POMDPs. Second, we introduce a set of cooperative states within the state-space of the POMDP. Third, for ensuring an efficient scalability, the framework partitions the overall task into independent planning modules. Lastly, for a robust execution of the POMDP policies we use Petri Net Plans, which have already been used to execute MDP policies. To this end, we describe how to convert a POMDP policy into an executable Petri Net Plan. We implement our approach and develop experiments on simulation and on a real robot in an escorting task where the robot guides a customer to the desired place in a public space.
References
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Clodic, A., Fleury, S., Alami, R., Chatila, R., Bailly, G., BrÃlthes, L., Cottret, M., DanÃls, P., Dollat, X., Elise A--r, F., Ferran Al', I., Herrb, M., Infantes, G., Lemaire, C., Lerasle, F., Manhes, J., Marcoul, P., Menezes, P., and Sabatier, U. P. Rackham: An interactive robot-guide. In IEEE International Conference on Robot-Machine Interaction (RoMan (2006).
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Ferrari, F., and Mouaddib, A.-I. Hierarchical factored POMDP for joint tasks : application to escort tasks. In AAAI Fall symposium on Sequential Decisoon-Making for Intelligent Agents (SDMIA 2015) (Arlington, United States, Nov. 2015), Proceedings of the AAAI Fall symposium on Sequential Decisoon-Making for Intelligent Agents.
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Sondik, E. J. The optimal control of partially observable markov processes. Tech. rep., DTIC Document, 1971.
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Ziparo, V. A., Iocchi, L., Lima, P. U., Nardi, D., and Palamara, P. F. Petri net plans. Autonomous Agents and Multi-Agent Systems 23, 3 (2011), 344{383.edings of the AAAI Fall symposium on Sequential Decisoon-Making for Intelligent Agents.
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Hall, E. T. The hidden dimension, 1966.
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Iocchi, L., Jeanpierre, L., Lazaro, M. T., and Mouaddib, A.-I. A practical framework for robust decision-theoretic planning and execution for service robots. In Twenty-Sixth International Conference on Automated Planning and Scheduling (2016).
[13]
Kaelbling, L. P., Littman, M. L., and Cassandra, A. R. Planning and acting in partially observable stochastic domains. ARTIFICIAL INTELLIGENCE 101 (1998), 99{134.
[14]
Kanda, T., Shiomi, M., Miyashita, Z., Ishiguro, H., and Hagita, N. An affective guide robot in a shopping mall. In Proceedings of the 4th ACM/IEEE International Conference on Human Robot Interaction (New York, NY, USA, 2009), HRI '09, ACM, pp. 173{180.
[15]
Matignon, L., Karami, A. B., and Mouaddib, A.-I. A model for verbal and non-verbal human-robot collaboration. In 2010 AAAI Fall Symposium Series (2010).
[16]
Sondik, E. J. The optimal control of partially observable markov processes. Tech. rep., DTIC Document, 1971.
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Ziparo, V. A., Iocchi, L., Lima, P. U., Nardi, D., and Palamara, P. F. Petri net plans. Autonomous Agents and Multi-Agent Systems 23, 3 (2011), 344{383.
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Published In
May 2017
1914 pages
- General Chairs:
- Kate Larson,
- Michael Winikoff,
- Program Chairs:
- Sanmay Das,
- Edmund Durfee
Sponsors
- IFAAMAS
In-Cooperation
Publisher
International Foundation for Autonomous Agents and Multiagent Systems
Richland, SC
Publication History
Published: 08 May 2017
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