Planning with resource conflicts in human-robot cohabitation

Tathagata Chakraborti, Yu Zhang, David E. Smith, Subbarao Kambhampati

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

9 Scopus citations

Abstract

In order to be acceptable members of future human-robot ecosystems, it is necessary for autonomous agents to be respectful of the intentions of humans cohabiting a workspace and account for conflicts on shared resources in the environment. In this paper we build an integrated system that demonstrates how maintaining predictive models of its human colleagues can inform the planning process of the robotic agent. We propose an Integer Programming based planner as a general formulation of this flavor of "humanaware" planning and show how the proposed formulation can be used to produce different behaviors of the robotic agent, showcasing compromise, opportunism or negotiation. Finally, we investigate how the proposed approach scales with the different parameters involved, and provide empirical evaluations to illustrate the pros and cons associated with the proposed style of planning.

Original languageEnglish (US)
Title of host publicationAAMAS 2016 - Proceedings of the 2016 International Conference on Autonomous Agents and Multiagent Systems
PublisherInternational Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)
Pages1069-1077
Number of pages9
ISBN (Electronic)9781450342391
StatePublished - 2016
Event15th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2016 - Singapore, Singapore
Duration: May 9 2016May 13 2016

Other

Other15th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2016
CountrySingapore
CitySingapore
Period5/9/165/13/16

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software
  • Control and Systems Engineering

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  • Cite this

    Chakraborti, T., Zhang, Y., Smith, D. E., & Kambhampati, S. (2016). Planning with resource conflicts in human-robot cohabitation. In AAMAS 2016 - Proceedings of the 2016 International Conference on Autonomous Agents and Multiagent Systems (pp. 1069-1077). International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS).