Planning for serendipity

Tathagata Chakraborti, Gordon Briggs, Kartik Talamadupula, Yu Zhang, Matthias Scheutz, David Smith, Subbarao Kambhampati

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

20 Scopus citations


Recently there has been a lot of focus on human robot co-habitation issues that are often orthogonal to many aspects of human-robot teaming; e.g. on producing socially acceptable behaviors of robots and de-conflicting plans of robots and humans in shared environments. However, an interesting offshoot of these settings that has largely been overlooked is the problem of planning for serendipity - i.e. planning for stigmergic collaboration without explicit commitments on agents in co-habitation. In this paper we formalize this notion of planning for serendipity for the first time, and provide an Integer Programming based solution for this problem. Further, we illustrate the different modes of this planning technique on a typical Urban Search and Rescue scenario and show a real-life implementation of the ideas on the Nao Robot interacting with a human colleague.

Original languageEnglish (US)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Print)9781479999941
StatePublished - Dec 11 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: Sep 28 2015Oct 2 2015


OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015

ASJC Scopus subject areas

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


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