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Towards a Theory of Intentions for Human-Robot Collaboration by Gomez, Rocio; Sridharan, Mohan; Riley, Heather is a scholarly article available to read on EtoBox.

What is Towards a Theory of Intentions for Human-Robot Collaboration about?

The architecture described in this paper encodes a theory of intentions based on the the key principles of non-procrastination, persistence, and automatically limiting reasoning to relevant knowledge and observations. The architecture reasons with transition diagrams of any given domain at two different resolutions, with the fine-resolution description defined as a refinement of, and hence tightly-coupled to, a coarse-resolution description. Non-monotonic logical reasoning with the coarse-resolution description computes an activity (i.e., plan) comprising abstract actions for any given goal. Each abstract action is implemented as a sequence of concrete actions by automatically zooming to and reasoning with the part of the fine-resolution transition diagram relevant to the current coarse-resolution transition and the goal. Each concrete action in this sequence is executed using probabilistic models of the uncertainty in sensing and actuation, and the corresponding fine-resolution outcomes are used to infer coarse-resolution observations that are added to the coarse-resolution history. The architecture's capabilities are evaluated in the context of a simulated robot assisting humans

Author

Gomez, Rocio; Sridharan, Mohan; Riley, Heather

Published

2019

Language

EN