DEL-based Epistemic Planning for Human-Robot Collaboration: Theory and Implementation

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DEL-based Epistemic Planning for Human-Robot Collaboration: Theory and Implementation

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Bolander, Thomas / Hansen, Lasse Dissing / Herrmann, Nicolai

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.

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Title :

DEL-based Epistemic Planning for Human-Robot Collaboration: Theory and Implementation

Contributors:

Bolander, Thomas (author) / Hansen, Lasse Dissing (author) / Herrmann, Nicolai (author)

Publication date :

2021-01-01

Remarks:

Bolander , T , Hansen , L D & Herrmann , N 2021 , DEL-based Epistemic Planning for Human-Robot Collaboration: Theory and Implementation . in Proceedings of the 18 th International Conference on Principles of Knowledge Representation and Reasoning . International Joint Conferences on Artificial Intelligence Organization , pp. 120–129 , 18 th International Conference on Principles of Knowledge Representation and Reasoning , 03/11/2021 . https://doi.org/10.24963/kr.2021/12

DOI :

https://doi.org/10.24963/kr.2021/12

Type of media :

Article (Journal)

Type of material :

Electronic Resource

Language :

English

Keywords :

KR and autonomous agents and multi-agent systems , Multi-robot planning and coordination , Reasoning about knowledge , beliefs , and other mental attitudes , Social intelligence for robots in human-centric environments

Classification :

DDC: