A POMDP framework for modelling human interaction with assistive robots

Taha, T; Miro, JV; Dissanayake, G

A POMDP framework for modelling human interaction with assistive robots

Taha, T Miro, JV

Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: Proceedings - IEEE International Conference on Robotics and Automation, 2011, pp. 544 - 549
Issue Date:: 2011-12-01

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Field	Value	Language
dc.contributor.author	Taha, T	en_US
dc.contributor.author	Miro, JV https://orcid.org/0000-0002-0083-7797	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2011-12-01	en_US
dc.identifier.citation	Proceedings - IEEE International Conference on Robotics and Automation, 2011, pp. 544 - 549	en_US
dc.identifier.isbn	9781612843865	en_US
dc.identifier.issn	1050-4729	en_US
dc.identifier.uri	http://hdl.handle.net/10453/19255
dc.description.abstract	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 as-sistive 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. © 2011 IEEE.	en_US
dc.relation.ispartof	Proceedings - IEEE International Conference on Robotics and Automation	en_US
dc.relation.isbasedon	10.1109/ICRA.2011.5980323	en_US
dc.title	A POMDP framework for modelling human interaction with assistive robots	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Shanghai, China	en_US
dc.location.activity	Shanghai, PEOPLES R CHINA
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

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 as-sistive 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. © 2011 IEEE.

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