TY - GEN
T1 - Planning for serendipity
AU - Chakraborti, Tathagata
AU - Briggs, Gordon
AU - Talamadupula, Kartik
AU - Zhang, Yu
AU - Scheutz, Matthias
AU - Smith, David
AU - Kambhampati, Subbarao
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/11
Y1 - 2015/12/11
N2 - Recently there has been a lot of focus on human robot co-habitation issues that are often orthogonal to many aspects of human-robot teaming; e.g. on producing socially acceptable behaviors of robots and de-conflicting plans of robots and humans in shared environments. However, an interesting offshoot of these settings that has largely been overlooked is the problem of planning for serendipity - i.e. planning for stigmergic collaboration without explicit commitments on agents in co-habitation. In this paper we formalize this notion of planning for serendipity for the first time, and provide an Integer Programming based solution for this problem. Further, we illustrate the different modes of this planning technique on a typical Urban Search and Rescue scenario and show a real-life implementation of the ideas on the Nao Robot interacting with a human colleague.
AB - Recently there has been a lot of focus on human robot co-habitation issues that are often orthogonal to many aspects of human-robot teaming; e.g. on producing socially acceptable behaviors of robots and de-conflicting plans of robots and humans in shared environments. However, an interesting offshoot of these settings that has largely been overlooked is the problem of planning for serendipity - i.e. planning for stigmergic collaboration without explicit commitments on agents in co-habitation. In this paper we formalize this notion of planning for serendipity for the first time, and provide an Integer Programming based solution for this problem. Further, we illustrate the different modes of this planning technique on a typical Urban Search and Rescue scenario and show a real-life implementation of the ideas on the Nao Robot interacting with a human colleague.
UR - http://www.scopus.com/inward/record.url?scp=84958178512&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2015.7354125
DO - 10.1109/IROS.2015.7354125
M3 - Conference contribution
AN - SCOPUS:84958178512
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5300
EP - 5306
BT - IROS Hamburg 2015 - Conference Digest
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Y2 - 28 September 2015 through 2 October 2015
ER -