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Transferring human navigation behaviors into a robot local planner

Rafael Ramon-Vigo, Noe Perez-Higueras, Fernando Caballero, Luis Merino
2014 The 23rd IEEE International Symposium on Robot and Human Interactive Communication  
The paper presents an analysis of the performance of the controller behavior in two different scenarios interacting with persons, and a comparison of this approach with a Proxemics-based method.  ...  Observations of real human motion interactions found in one publicly available datasets are employed to learn a cost function, which is then used to determine a navigation controller.  ...  The first case is training with the data of scenario DS1 and evaluation in the same scenario (E1). The same evaluation, but with scenario DS2, is denoted E2.  ... 
doi:10.1109/roman.2014.6926347 dblp:conf/ro-man/VigoPCM14 fatcat:glry3qzkajgkzl7muxvsnfqpm4

Maritime threat detection using plan recognition

Bryan Auslander, Kalyan Moy Gupta, David W. Aha
2012 2012 IEEE Conference on Technologies for Homeland Security (HST)  
Furthermore, our case-based plan recognizer outperformed our HTN algorithm.  ...  In particular, we examine hierarchical task network (HTN) and case-based algorithms for plan recognition, which detect anomalies by generating expected behaviors for use as a basis for threat detection  ...  The CBR process rieval, which involves case -based plan recognition as two case bases that cover first case base, called the the entire travel path of an d the Secondary Case Base tions (e.g., path deviations  ... 
doi:10.1109/ths.2012.6459857 fatcat:eek7e6kho5cdxdg2auiy6owhxy

Digital assistance services for emergency situations in personalized mobile healthcare: Smart space based approach

Dmitry G. Korzun, Alexander V. Borodin, Ivan A. Timofeev, Ilya V. Paramonov, Sergey I. Balandin
2015 2015 International Conference on Biomedical Engineering and Computational Technologies (SIBIRCON)  
The services support personalized digital assistance in emergency cases with remote and mobile patients 5 And smart space based solutions have been proposed for implementing the reference scenarios in  ...  Symptoms First aid actions Physician KP Modi¡cation of the disease treatment plan Anamneses, sensor data Conclusion 1 4  ...  A volunteer is rushing to reach the patient: construction of the basic service.  ... 
doi:10.1109/sibircon.2015.7361852 fatcat:zaakdevpqngaxfs4wt4l5sr4ce

Learning and Planning Based on Merged Experience from Multiple Situations for a Service Robot

Zhixian Chen, Baoliang Zhao, Shijia Zhao, Ying Hu, Jianwei Zhang
2018 Applied Sciences  
Furthermore, a novel planner called the schema-based optimized planner (SBOP) is developed based on the learned activity schema, in which actions merging optimization and partially backtracking techniques  ...  For a service robot, learning appropriate behaviours to acquire task knowledge and deliberation in various situations is essential, but the existing methods do not support merging the plan-based activity  ...  Let ma be an activity schema for the target task t, and ma' is a merged activity schema in the activity schema memory for the identical target task t.  ... 
doi:10.3390/app8101832 fatcat:7nyrnw77nrh6bi5npcpvcd6j7m

A Generation Method of Alternative Scenarios with a Normal Scenario

2010 IEICE transactions on information and systems  
This method includes (1) generation of alternative plans and (2) generation of alternative scenario by a user's selection of these plans.  ...  This paper proposes a method to generate alternative scenarios from a normal scenario written with a scenario language.  ...  In this scenario language, simple action traces are embellished including typed frames based on a simple case grammar of actions and for describing the sequence among events [12] , [20] .  ... 
doi:10.1587/transinf.e93.d.693 fatcat:h2k6kz3fazgujolght5ci3wdlu

Human robot motion: A shared effort approach

Grimaldo Silva, Thierry Fraichard
2017 2017 European Conference on Mobile Robots (ECMR)  
One such benefit is that human-like motion was shown to reduce the planning effort for all persons in the environment, given that they tend to solve collision avoidance problems in similar ways.  ...  In contrast with such an approach, recent works have showed benefits of robots that can move and avoid collisions in a manner similar to persons, what we call human-like motion.  ...  This approach is necessary in case the person is unaware of the robot or either unwilling or incapable of changing his motion plan. Conversely, in real scenarios, a person does not always yield.  ... 
doi:10.1109/ecmr.2017.8098695 dblp:conf/ecmr/SilvaF17 fatcat:lrtdtumntncqbdcwazjnji4h4u

A Character Model with Moral Emotions: Preliminary Evaluation

Cristina Battaglino, Rossana Damiano, Marc Herbstritt
2014 Workshop on Computational Models of Narrative  
According to appraisal models, cognitive processes have the function of building a mental representation of the situation in which a person is involved (person-environment relation).  ...  In this paper, we propose to model story characters as value-based emotional agents, who appraise their own and others' actions based on their desires and values, and feel the appropriate moral emotions  ...  In EMA [33] , the first fully-implemented framework for conversational agents, appraisal is formed by a set of independent processes that operate on a plan-based representation of person-environment relation  ... 
doi:10.4230/oasics.cmn.2014.24 dblp:conf/cmn/BattaglinoD14 fatcat:2dudt2wnxvhb7nmnbiaqbca3h4

Virtual Actors' Behaviour for 3D Interactive Storytelling [article]

Marc Cavazza, Fred Charles, Steven J. Mead, Alexander I. Strachan
2001 Eurographics State of the Art Reports  
We have developed a fully implemented prototype based on the Unreal™ game engine and carried experiments with a simple sitcom-like scenario.  ...  We follow previous work describing the behaviour of artificial actors through AI planning formalisms, and adopt a search-based approach to planning.  ...  Acknowledgements Eric Jacopin is thanked for his expert advice on AI planning issues: any remaining errors are, however, the authors' sole responsibility.  ... 
doi:10.2312/egs.20011040 fatcat:eesvjbgybfgi7pixqk7bv5ujki

Incorporating social practices in BDI agent systems [article]

Stephen Cranefield, Frank Dignum
2019 arXiv   pre-print
We define and implement this mechanism in Jason using a periodically run meta-deliberation plan, supported by a metainterpreter, and illustrate its use in a realistic scenario.  ...  Deliberating about interactions from fundamentals is not very scalable either, because in that case all possible reactions of a user have to be considered in the plans.  ...  In [5] there is a first formalization of all these aspects based on dynamic logic.  ... 
arXiv:1903.03189v1 fatcat:puffcqpldnc2xgvdfmzwlgocqa

A review of interactive narrative systems and technologies: a training perspective

Linbo Luo, Wentong Cai, Suiping Zhou, Michael Lees, Haiyan Yin
2015 Simulation (San Diego, Calif.)  
Specifically, we first propose a set of key requirements in developing interactive narrative systems for simulation-based training.  ...  In simulation-based training, the use of an interactive narrative system enables the possibility to offer engaging, diverse and personalized narratives or scenarios for different training purposes.  ...  Control a virtual character Specific time. When a game event is encountered A set of actions. Defined in branching story graph ASD First-person.  ... 
doi:10.1177/0037549714566722 fatcat:jifpa3w6wzcapbq5yra3k3jgxe

A qualitative study of providers' decision-making for cases involving neurobehavioral issues

Cynthia O'Donoghue, Cara Meixner, Peter Walla
2020 Cogent Psychology  
., rehabilitation, medical, mental health) influence post-acute care planning for persons with brain injury, yet insufficient evidence informs how decisions are made.  ...  Using vignettes drawn from authentic scenarios, this qualitative study investigated case management decisions made by providers serving individuals with varying neurobehavioral needs.  ...  Acknowledgements This work is a distinct sub-study of a larger investigation supported through a Commonwealth Neurotrauma Initiative (CNI) Trust Fund grant received from the Virginia Department for Aging  ... 
doi:10.1080/23311908.2020.1788330 fatcat:oyewxw42cjaonb4d4ndc45lrye

Planning for cars that coordinate with people: leveraging effects on human actions for planning and active information gathering over human internal state

Dorsa Sadigh, Nick Landolfi, Shankar S. Sastry, Sanjit A. Seshia, Anca D. Dragan
2018 Autonomous Robots  
We first explore learning these parameters offline, and show that a robot planning in the resulting underactuated system is more efficient than when treating the person as a moving obstacle.  ...  Planning in our model results in coordination behaviors: the robot inches forward at an intersection to see if can go through, or it reverses to make the other car proceed first.  ...  Scenario 3: Make human go first In this scenario, we demonstrate that an autonomous vehicle can plan to cause the human to proceed first at an intersection.  ... 
doi:10.1007/s10514-018-9746-1 fatcat:gotoxhx3zfhgnkqwsyqljutdem

Modeling Agents with a Theory of Mind

Maaike Harbers, Karel van den Bosch, John-Jules Meyer
2009 2009 IEEE/WIC/ACM International Joint Conference on Web Intelligence and Intelligent Agent Technology  
Both approaches have been implemented in a case study, and results show that the ST approach is preferred over the TT approach. *  ...  Based on existing theory of mind theories, a theory-theory (TT) and a simulation-theory (ST) approach for modeling agents with a theory of mind models are proposed.  ...  In our case, execution of a module might result in updating its belief, goal or intention base, but not executing actual actions in the environment.  ... 
doi:10.1109/wi-iat.2009.153 dblp:conf/iat/HarbersBM09 fatcat:cxit3tchkrbj5hjuyhbw4htgbe

Working Towards a BDI‑Agent Based on Personality Traits to Improve Normative Conflicts Solution

Paulo H. C. Alves, Marx L. Viana, Carlos J. P. De Lucena
2017 Proceedings of the 29th International Conference on Software Engineering and Knowledge Engineering  
In this context, this paper introduces an approach that considers the agent's personality traits in order to improve the solving process of normative conflicts.  ...  However, norms eventually can be conflicting -for example, when there is a norm that prohibits an agent to perform a particular action and another norm that obligates the same agent to perform the same  ...  We used the architecture proposed in this paper (see Fig. 4 ) in the first and second scenarios.  ... 
doi:10.18293/seke2017-160 dblp:conf/seke/AlvesVL17 fatcat:5ipbs4rvzrge5hxssvcabu6cwe

An Adaptive and Proactive Human-Aware Robot Guide [chapter]

Michelangelo Fiore, Harmish Khambhaita, Grégoire Milliez, Rachid Alami
2015 Lecture Notes in Computer Science  
In this paper we present a robotic system able to guide a person to a destination in a socially acceptable way.  ...  We base the planning model on Hierarchical Mixed Observability Markov Decision Processes to decompose the task in smaller subsets, simplifying the computation of a solution.  ...  Experiments and Analysis We performed a first set of experiments with a person following a robot on a predefined path, in order to test the behaviors of the robot.  ... 
doi:10.1007/978-3-319-25554-5_20 fatcat:by2yvixdc5cppeopfmuhypbv3e
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