A POMDP Framework for Modelling Human Interaction with Assistive Robots
This paper presents a framework for modelling the interaction between a human operator and a robotic device, that enables the robot to collaborate with the human to jointly accomplish tasks. States of the system are captured in a model based on a partially observable Markov decision process (POMDP). States representing the human operator are motivated by behaviours from the psychology of the human action cycle. Hierarchical nature of these states allows the exploitation of data structures based on algebraic decision diagrams (ADD) to efficiently solve the resulting POMDP. The proposed framework is illustrated using two examples from assistive robotics; a robotic wheel chair and an intelligent walking device. Experimental results from trials conducted in an office environment with the wheelchair is used to demonstrate the proposed technique.
Tarek Taha Jaime Valls Mir(o) Gamini Dissanayake
ARC Centre of Excellence for Autonomous Systems (CAS),Faculty of Engineering,University of Technology Sydney (UTS),NSW2007,Australia
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
544-549
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）