Search and rescue missions are particularly dan- gerous tasks for first responders. Fully automating even the riskiest and earliest phases is still hindered by limited au- tonomous exploration algorithms. This work proposes a first step toward extending robot use in search and rescue missions by allowing them to anticipate human first responder actions, thus enabling exploration fo- cused on areas more relevant for the responder and thus for the task. The robot controller implements an active intention recogni- tion paradigm to perceive, even under sensory constraints, not only the target position but also the first responders movements which can inform on her intentions: reaching the position where she expects the target to be. This is implemented using an extension of MonteCarlo based planning where reward is extended with an entropy reduction bonus.

Ognibene, D., Mirante, L. (2018). Where do you believe you are going, human? Toward active intention recognition in unknown environments for joint robot-human search and rescue missions. In Human Aiding Robotics - IROS WORKSHOP.

Where do you believe you are going, human? Toward active intention recognition in unknown environments for joint robot-human search and rescue missions

Ognibene D
Primo
;
2018

Abstract

Search and rescue missions are particularly dan- gerous tasks for first responders. Fully automating even the riskiest and earliest phases is still hindered by limited au- tonomous exploration algorithms. This work proposes a first step toward extending robot use in search and rescue missions by allowing them to anticipate human first responder actions, thus enabling exploration fo- cused on areas more relevant for the responder and thus for the task. The robot controller implements an active intention recogni- tion paradigm to perceive, even under sensory constraints, not only the target position but also the first responders movements which can inform on her intentions: reaching the position where she expects the target to be. This is implemented using an extension of MonteCarlo based planning where reward is extended with an entropy reduction bonus.
paper
collaborative planning; intention prediction; active perception; pomdp; search and rescue; robotics; social robotics;
Italian
IROS 2018 Human Aiding Workshop
2019
Human Aiding Robotics - IROS WORKSHOP
2018
http://www.robot.t.u-tokyo.ac.jp/iros2018har/papers/dm.pdf
reserved
Ognibene, D., Mirante, L. (2018). Where do you believe you are going, human? Toward active intention recognition in unknown environments for joint robot-human search and rescue missions. In Human Aiding Robotics - IROS WORKSHOP.
File in questo prodotto:
File Dimensione Formato  
dm.pdf

Solo gestori archivio

Dimensione 288.01 kB
Formato Adobe PDF
288.01 kB Adobe PDF   Visualizza/Apri   Richiedi una copia

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10281/301943
Citazioni
  • Scopus ND
  • ???jsp.display-item.citation.isi??? ND
Social impact