Paper Info
Title
Decision theoretic task coordination for a visually-guided interactive mobile robot
Abstract
In this paper, we present a visually-guided mobile robot that is capable of executing a task requiring complex human-robot interaction (HRI). The robot delivers verbal messages among the inhabitants of an office-like environment. Essential to the robot's robust performance is our behavior-based robot control architecture enhanced with a state of the art decision theoretic planner that takes into account the temporal characteristics of the robot's actions. The decision theoretic layer is based on the partially observable Markov decision process (POMDP) framework allowing us to achieve principled coordination of complex subtasks implemented as robot behaviors/skills. We compute approximate POMDP policies using the randomized point-based value iteration algorithm and we present heuristics for improving its computational efficiency.
Year
DOI
Venue
2007
10.1109/IROS.2007.4399526
San Diego, CA
Keywords
Field
DocType
Markov processes,decision theory,iterative methods,mobile robots,random processes,user interfaces,behavior-based robot control architecture,decision theoretic planner,decision theoretic task coordination,human-robot interaction,partially observable Markov decision process,randomized point-based value iteration algorithm,visually-guided interactive mobile robot
Robot learning,Robot control,Computer vision,Partially observable Markov decision process,Computer science,Markov decision process,Heuristics,Artificial intelligence,Decision theory,Robot,Mobile robot
Conference
ISBN
Citations 
PageRank 
978-1-4244-0912-9
0
0.34
References 
Authors
11
2
Name
Order
Citations
PageRank
Pantelis Elinas117513.21
James J. Little22430269.59