Robust Execution of Plans for Human-Robot Teams
Robust Execution of Plans for Human-Robot Teams
复制标题
人机团队计划的稳健执行
DOI：
10.1609/icaps.v25i1.13698
复制
发表时间：
2015
期刊：
影响因子：
2.8
通讯作者：
B. Williams
中科院分区：
文献类型：
--
作者：
E. Karpas;S. J. Levine;YU Peng;B. Williams
人类和机器人一起工作可以有效地完成任何一方单独完成都非常困难的任务。为了流畅地协作，机器人必须识别人类的意图并适当地适应他们的行动。派克是一个在线执行先前在文献中介绍，统一的意图识别和计划适应时间灵活的计划与选择。虽然派克在协调人类机器人团队方面取得了成功，但他对动作持续时间的时间不确定性的鲁棒性有限。本文提出了两个扩展派克，使其更强大的时间不确定性。首先，我们扩展派克处理不可控的动作持续时间，通过实施强时间可控性。我们通过将STNU的标准强可控性算法推广到有选择的计划来实现这一目标。其次，如果实现的持续时间甚至超过了指定的界限，使整个计划不可行，我们试图与人类进行智能协商，以放松一些时间限制并恢复可行性，而不是立即失败并停止执行。这种谈判是由一个国家的最先进的冲突导向松弛算法，以前只离线使用。
Humans and robots working together can efficiently complete tasks that are very difficult for either to accomplish alone. To collaborate fluidly, robots must recognize the humans' intentions and adapt to their actions appropriately. Pike is an online executive introduced previously in the literature that unifies intent recognition and plan adaptation for temporally flexible plans with choice. While successful at coordinating human-robot teams, Pike had limited robustness to temporal uncertainty about the durations of actions. This paper presents two extensions to Pike that make it much more robust to temporal uncertainty. First, we extend Pike to handle uncontrollable action durations by enforcing strong temporal controllability. We accomplish this by generalizing standard strong controllability algorithms for STNUs to plans with choice. Second, in case a realized duration exceeds even the specified bounds and makes the entire plan infeasible, we attempt to intelligently negotiate with a human to relax some of the temporal constraints and restore feasibility, rather than immediately failing and halting execution. This negotiation is guided by a state-of-the-art conflict directed relaxation algorithm, which has previously only been used offline.