research-article

Reasoning for a multi-modal service robot considering uncertainty in human-robot interaction

Authors:

Sven R. Schmidt-Rohr,

Steffen Knoop,

Martin Lösch,

Rüdiger DillmannAuthors Info & Claims

HRI '08: Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction

Pages 249 - 254

https://doi.org/10.1145/1349822.1349855

Published: 12 March 2008 Publication History

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Abstract

This paper presents a reasoning system for a multi-modal service robot with human-robot interaction. The reasoning system uses partially observable Markov decision processes (POMDPs) for decision making and an intermediate level for bridging the gap of abstraction between multi-modal real world sensors and actuators on the one hand and POMDP reasoning on the other. A filter system handles the abstraction of multi-modal perception while preserving uncertainty and model-soundness. A command sequencer is utilized to control the execution of symbolic POMDP decisions on multiple actuator components. By using POMDP reasoning, the robot is able to deal with uncertainty in both observation and prediction of human behavior and can balance risk and opportunity. The system has been implemented on a multi-modal service robot and is able to let the robot act autonomously in modeled human-robot interaction scenarios. Experiments evaluate the characteristics of the proposed algorithms and architecture.

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Cited By

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Andrés Ide Barros LMauá DSimão T(2018)When a Robot Reaches Out for Human HelpAdvances in Artificial Intelligence – IBERAMIA 201810.1007/978-3-030-03928-8_23(277-289)Online publication date: 2018
https://doi.org/10.1007/978-3-030-03928-8_23
Omar ARamdane-Cherif A(2017)Semantic framework to enhance human-robot interaction using EKRL2017 IEEE 16th International Conference on Cognitive Informatics & Cognitive Computing (ICCI*CC)10.1109/ICCI-CC.2017.8109796(503-512)Online publication date: Jul-2017
https://doi.org/10.1109/ICCI-CC.2017.8109796
Chen SBaarslag TZhao DChen JShen L(2016)A polynomial time optimal algorithm for robot-human search under uncertaintyProceedings of the Twenty-Fifth International Joint Conference on Artificial Intelligence10.5555/3060621.3060735(819-825)Online publication date: 9-Jul-2016
https://dl.acm.org/doi/10.5555/3060621.3060735
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Index Terms

Reasoning for a multi-modal service robot considering uncertainty in human-robot interaction
1. Information systems
  1. Information systems applications

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Information

Published In

HRI '08: Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction

March 2008

402 pages

ISBN:9781605580173

DOI:10.1145/1349822

General Chairs:
Terry Fong
NASA Ames Research Center, USA
,
Kerstin Dautenhahn
University of Hertfordshire, UK
,
Program Chairs:
Matthias Scheutz
Indiana University Bloomington, USA
,
Yiannis Demiris
Imperial College London, UK

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 12 March 2008

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HRI '08

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HRI '08: International Conference on Human Robot Interaction

March 12 - 15, 2008

Amsterdam, The Netherlands

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Overall Acceptance Rate 268 of 1,124 submissions, 24%

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Cited By

View all

Andrés Ide Barros LMauá DSimão T(2018)When a Robot Reaches Out for Human HelpAdvances in Artificial Intelligence – IBERAMIA 201810.1007/978-3-030-03928-8_23(277-289)Online publication date: 2018
https://doi.org/10.1007/978-3-030-03928-8_23
Omar ARamdane-Cherif A(2017)Semantic framework to enhance human-robot interaction using EKRL2017 IEEE 16th International Conference on Cognitive Informatics & Cognitive Computing (ICCI*CC)10.1109/ICCI-CC.2017.8109796(503-512)Online publication date: Jul-2017
https://doi.org/10.1109/ICCI-CC.2017.8109796
Chen SBaarslag TZhao DChen JShen L(2016)A polynomial time optimal algorithm for robot-human search under uncertaintyProceedings of the Twenty-Fifth International Joint Conference on Artificial Intelligence10.5555/3060621.3060735(819-825)Online publication date: 9-Jul-2016
https://dl.acm.org/doi/10.5555/3060621.3060735
Ramachandran DGupta R(2009)Smoothed SarsaProceedings of the 2009 IEEE international conference on Robotics and Automation10.5555/1703775.1703986(3327-3334)Online publication date: 12-May-2009
https://dl.acm.org/doi/10.5555/1703775.1703986
Becker ELe ZPark KLin YMakedon F(2009)Event-based experiments in an assistive environment using wireless sensor networks and voice recognitionProceedings of the 2nd International Conference on PErvasive Technologies Related to Assistive Environments10.1145/1579114.1579131(1-8)Online publication date: 9-Jun-2009
https://dl.acm.org/doi/10.1145/1579114.1579131
Lin YBecker EPark KLe ZMakedon F(2009)Decision making in assistive environments using multimodal observationsProceedings of the 2nd International Conference on PErvasive Technologies Related to Assistive Environments10.1145/1579114.1579120(1-8)Online publication date: 9-Jun-2009
https://dl.acm.org/doi/10.1145/1579114.1579120
Steinfeld AJenkins OScassellati BScheutz MMichaud FHinds PScassellati B(2009)The oz of wizardProceedings of the 4th ACM/IEEE international conference on Human robot interaction10.1145/1514095.1514115(101-108)Online publication date: 9-Mar-2009
https://dl.acm.org/doi/10.1145/1514095.1514115
Ramachandran DGupta R(2009)Smoothed Sarsa: Reinforcement learning for robot delivery tasks2009 IEEE International Conference on Robotics and Automation10.1109/ROBOT.2009.5152707(2125-2132)Online publication date: May-2009
https://doi.org/10.1109/ROBOT.2009.5152707

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