Planning for serendipity

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

doi:10.1109/IROS.2015.7354125

Planning for serendipity

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

20 Scopus citations

Abstract

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 language	English (US)
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5300-5306
Number of pages	7
Volume	2015-December
ISBN (Print)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7354125
State	Published - Dec 11 2015
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: Sep 28 2015 → Oct 2 2015

Other

Other	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/Territory	Germany
City	Hamburg
Period	9/28/15 → 10/2/15

ASJC Scopus subject areas

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

Access to Document

10.1109/IROS.2015.7354125

Cite this

Chakraborti, T, Briggs, G, Talamadupula, K, Zhang, Y, Scheutz, M, Smith, D & Kambhampati, S 2015, Planning for serendipity. in IEEE International Conference on Intelligent Robots and Systems. vol. 2015-December, 7354125, Institute of Electrical and Electronics Engineers Inc., pp. 5300-5306, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 9/28/15. https://doi.org/10.1109/IROS.2015.7354125

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AU - Briggs, Gordon

AU - Talamadupula, Kartik

AU - Zhang, Yu

AU - Scheutz, Matthias

AU - Smith, David

AU - Kambhampati, Subbarao

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ER -

Planning for serendipity

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