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Robots that Maintain Equilibrium: Proactivity by Reasoning About User Intentions and Preferences
Örebro University, School of Science and Technology. (AASS, NT)
Örebro University, School of Science and Technology. (AASS, NT)ORCID iD: 0000-0002-9652-7864
Örebro University, School of Science and Technology. (AASS, NT)ORCID iD: 0000-0001-8229-1363
2018 (English)In: Pattern Recognition Letters, ISSN 0167-8655, E-ISSN 1872-7344Article in journal (Refereed) Epub ahead of print
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.

Place, publisher, year, edition, pages
Elsevier, 2018.
Keywords [en]
Robot proactivity, Equilibrium maintenance, Goal reasoning, Fuzzy models
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-65667DOI: 10.1016/j.patrec.2018.05.014OAI: oai:DiVA.org:oru-65667DiVA, id: diva2:1189683
Available from: 2018-03-12 Created: 2018-03-12 Last updated: 2018-09-14Bibliographically approved

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Grosinger, JasminPecora, FedericoSaffiotti, Alessandro

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CiteExportLink to record
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