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

8 Citations (Scopus)

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

Fingerprint

Robots
Planning
Robotics
Autonomous agents
Flavors
Integer programming
Ecosystems

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software
  • Control and Systems Engineering

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).

Planning with resource conflicts in human-robot cohabitation. / Chakraborti, Tathagata; Zhang, Yu; Smith, David E.; Kambhampati, Subbarao.

AAMAS 2016 - Proceedings of the 2016 International Conference on Autonomous Agents and Multiagent Systems. International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS), 2016. p. 1069-1077.

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

Chakraborti, T, Zhang, Y, Smith, DE & 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. International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS), pp. 1069-1077, 15th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2016, Singapore, Singapore, 5/9/16.
Chakraborti T, Zhang Y, Smith DE, Kambhampati S. Planning with resource conflicts in human-robot cohabitation. In AAMAS 2016 - Proceedings of the 2016 International Conference on Autonomous Agents and Multiagent Systems. International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS). 2016. p. 1069-1077
Chakraborti, Tathagata ; Zhang, Yu ; Smith, David E. ; Kambhampati, Subbarao. / Planning with resource conflicts in human-robot cohabitation. AAMAS 2016 - Proceedings of the 2016 International Conference on Autonomous Agents and Multiagent Systems. International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS), 2016. pp. 1069-1077
@inproceedings{0fbc301393374ceab57640f879dcc73e,
title = "Planning with resource conflicts in human-robot cohabitation",
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.",
author = "Tathagata Chakraborti and Yu Zhang and Smith, {David E.} and Subbarao Kambhampati",
year = "2016",
language = "English (US)",
pages = "1069--1077",
booktitle = "AAMAS 2016 - Proceedings of the 2016 International Conference on Autonomous Agents and Multiagent Systems",
publisher = "International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)",

}

TY - GEN

T1 - Planning with resource conflicts in human-robot cohabitation

AU - Chakraborti, Tathagata

AU - Zhang, Yu

AU - Smith, David E.

AU - Kambhampati, Subbarao

PY - 2016

Y1 - 2016

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85014135449&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85014135449&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:85014135449

SP - 1069

EP - 1077

BT - AAMAS 2016 - Proceedings of the 2016 International Conference on Autonomous Agents and Multiagent Systems

PB - International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)

ER -