Abstract
This paper describes a general architecture for robots to represent and reason with intentional actions. The architecture reasons with tightly-coupled transition diagrams of the domain at two different resolutions. Non-monotonic logical
reasoning with a coarse-resolution transition diagram is used to compute a plan comprising intentional abstract actions for any given goal. Each such abstract action is implemented as a sequence of concrete actions by reasoning over the relevant part of the fine-resolution transition diagram, with the outcomes of probabilistic execution of the concrete actions being added to the coarse-resolution history. The capabilities of this architecture are illustrated in the context of a simulated robot assisting humans in an office domain, on a physical
robot (Baxter) manipulating tabletop objects, and on a wheeled robot (Turtlebot) moving objects to particular places or people in an office. We show that this architecture improves reliability and efficiency in comparison with a planning
architecture that does not include intentional actions.
reasoning with a coarse-resolution transition diagram is used to compute a plan comprising intentional abstract actions for any given goal. Each such abstract action is implemented as a sequence of concrete actions by reasoning over the relevant part of the fine-resolution transition diagram, with the outcomes of probabilistic execution of the concrete actions being added to the coarse-resolution history. The capabilities of this architecture are illustrated in the context of a simulated robot assisting humans in an office domain, on a physical
robot (Baxter) manipulating tabletop objects, and on a wheeled robot (Turtlebot) moving objects to particular places or people in an office. We show that this architecture improves reliability and efficiency in comparison with a planning
architecture that does not include intentional actions.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 6th Workshop on Planning and Robotics (PlanRob 2018) |
| Editors | Alberto Finzi, Erez Karpas, Goldie Nejat, AndreA Orlandini, Siddharth Srivastava |
| Publisher | International Conference on Automated Planning and Scheduling |
| Pages | 133-142 |
| Number of pages | 10 |
| Publication status | Published - 24 Jun 2018 |
| Event | Workshop on Planning and Robotics (PlanRob) at ICAPS 2018 - Delft, Netherlands Duration: 26 Jun 2018 → 26 Jun 2018 |
Conference
| Conference | Workshop on Planning and Robotics (PlanRob) at ICAPS 2018 |
|---|---|
| Country/Territory | Netherlands |
| City | Delft |
| Period | 26/06/18 → 26/06/18 |