Simultaneous Plan Recognition and Monitoring (SPRAM) for Robot Assistants

Abstract : Personal robots that are useful helpers for humans need to know about common tasks and habits of their human partners to be able to react adequately to human behavior. Thus, knowledge about human task performance becomes an inevitable part of a robotic system that is aimed to work together with humans in human centered environments like a household. But high uncertainties within the robots sensors as well as unpredictable behavior of humans and partial occlusions usually make it hard to achieve certainty about human task execution. We propose a probabilistic module that performs Simultaneous Plan Recognition and Monitoring by maintaining a belief state about human task execution and simultaneously monitoring plans that the human is likely to execute. This way the robot is able to infer possible reactions even if it may not exactly know which plan its human partner is executing. In the application example of a household robot observing a typical morning routine of a person, we show that our module is able recognize and monitor a set of activities of daily living in real time and predict places that the human is likely to visit in near future.
Type de document :
Communication dans un congrès
Human Robot Collaboration Workshop 2013, in conjunction with RSS 2013, 2013, Berlin, Germany
Liste complète des métadonnées

Littérature citée [19 références]  Voir  Masquer  Télécharger

https://hal.archives-ouvertes.fr/hal-01684313
Contributeur : Alexandra Kirsch <>
Soumis le : lundi 15 janvier 2018 - 13:34:14
Dernière modification le : mardi 16 janvier 2018 - 14:08:18
Document(s) archivé(s) le : lundi 7 mai 2018 - 15:54:03

Fichier

karg13spram-preprint.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01684313, version 1

Citation

Michael Karg, Alexandra Kirsch. Simultaneous Plan Recognition and Monitoring (SPRAM) for Robot Assistants. Human Robot Collaboration Workshop 2013, in conjunction with RSS 2013, 2013, Berlin, Germany. 〈hal-01684313〉

Partager

Métriques

Consultations de la notice

24

Téléchargements de fichiers

8