Conference paper
DEL-based Epistemic Planning for Human-Robot Collaboration: Theory and Implementation
Epistemic planning based on Dynamic Epistemic Logic (DEL) allows agents to reason and plan from the perspective of other agents. The framework of DEL-based epistemic planning thereby has the potential to represent significant aspects of Theory of Mind in autonomous robots, and to provide a foundation for human-robot collaboration in which coordination is achieved implicitly through perspective shifts.
In this paper, we build on previous work in epistemic planning with implicit coordination. We introduce a new notion of indistinguishability between epistemic states based on bisimulation, and provide a novel partition refinement algorithm for computing unique representatives of sets of indistinguishable states.
We provide an algorithm for computing implicitly coordinated plans using these new constructs, embed it in a perceive-plan-act agent loop, and implement it on a robot. The planning algorithm is benchmarked against an existing epistemic planning algorithm, and the robotic implementation is demonstrated on human-robot collaboration scenarios requiring implicit coordination.
Language: | English |
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Publisher: | International Joint Conferences on Artificial Intelligence Organization |
Year: | 2021 |
Pages: | 120-129 |
Proceedings: | 18<sup>th</sup> International Conference on Principles of Knowledge Representation and Reasoning |
ISBN: | 1956792996 and 9781956792997 |
Types: | Conference paper |
DOI: | 10.24963/kr.2021/12 |
ORCIDs: | Bolander, Thomas |