Coordination in human-robot teams using mental modeling and plan recognition

Kartik Talamadupula, Gordon Briggs, Tathagata Chakraborti, Matthias Scheutz, Subbarao Kambhampati

Research output: Chapter in Book/Report/Conference proceedingConference contribution

23 Scopus citations

Abstract

Beliefs play an important role in human-robot teaming scenarios, where the robots must reason about other agents' intentions and beliefs in order to inform their own plan generation process, and to successfully coordinate plans with the other agents. In this paper, we cast the evolving and complex structure of beliefs, and inference over them, as a planning and plan recognition problem. We use agent beliefs and intentions modeled in terms of predicates in order to create an automated planning problem instance, which is then used along with a known and complete domain model in order to predict the plan of the agent whose beliefs are being modeled. Information extracted from this predicted plan is used to inform the planning process of the modeling agent, to enable coordination. We also look at an extension of this problem to a plan recognition problem. We conclude by presenting an evaluation of our technique through a case study implemented on a real robot.

Original languageEnglish (US)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2957-2962
Number of pages6
ISBN (Print)9781479969340
DOIs
Publication statusPublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Talamadupula, K., Briggs, G., Chakraborti, T., Scheutz, M., & Kambhampati, S. (2014). Coordination in human-robot teams using mental modeling and plan recognition. In IEEE International Conference on Intelligent Robots and Systems (pp. 2957-2962). [6942970] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6942970