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Robots that Maintain Equilibrium: Proactivity by Reasoning About User Intentions and Preferences
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS, NT)
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS, NT)ORCID-id: 0000-0002-9652-7864
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS, NT)ORCID-id: 0000-0001-8229-1363
2019 (engelsk)Inngår i: Pattern Recognition Letters, ISSN 0167-8655, E-ISSN 1872-7344, Vol. 118, s. 85-93Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

Robots need to exhibit proactive behavior if they are to be accepted in human-centered environments. A proactive robot must reason about the actions it can perform, the state of the environment, the state and the intentions of its users, and what the users deem desirable. This paper proposes a computational framework for proactive robot behavior that formalizes the above ingredients. The framework is grounded on the notion of Equilibrium Maintenance: current and future states are continuously evaluated to identify opportunities for acting that steer the system into more desirable states. We show that this process leads a robot to proactively generate its own goals and enact them, and that the obtained behavior depends on a model of user intentions, preferences, and the temporal horizon used in prediction. A number of examples show that our framework accounts for even slight variations in user preference models and perceived user intentions. We also show how the level of informedness of the system is easily customizable.

sted, utgiver, år, opplag, sider
Elsevier, 2019. Vol. 118, s. 85-93
Emneord [en]
Robot proactivity, Equilibrium maintenance, Goal reasoning, Fuzzy models
HSV kategori
Forskningsprogram
Datavetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-65667DOI: 10.1016/j.patrec.2018.05.014ISI: 000457976400010Scopus ID: 2-s2.0-85048078578OAI: oai:DiVA.org:oru-65667DiVA, id: diva2:1189683
Forskningsfinansiär
Swedish Research Council, PGR00193
Merknad

Funding Agency:

Semantic Robots Research Profile (Swedish Knowledge Foundation)

Tilgjengelig fra: 2018-03-12 Laget: 2018-03-12 Sist oppdatert: 2019-02-19bibliografisk kontrollert

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Grosinger, JasminPecora, FedericoSaffiotti, Alessandro

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