Title:
Probabilistic Human Action Prediction and Wait-sensitive Planning for Responsive Human-robot Collaboration
Probabilistic Human Action Prediction and Wait-sensitive Planning for Responsive Human-robot Collaboration
| dc.contributor.author | Hawkins, Kelsey P. | |
| dc.contributor.author | Vo, Nam | |
| dc.contributor.author | Bansal, Shray | |
| dc.contributor.author | Bobic, Aaron F. | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. College of Computing | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Interactive Computing | en_US |
| dc.date.accessioned | 2014-02-14T18:37:25Z | |
| dc.date.available | 2014-02-14T18:37:25Z | |
| dc.date.issued | 2013-10 | |
| dc.description | © 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
| dc.description.abstract | A novel representation for the human component of multi-step, human-robot collaborative activity is presented. The goal of the system is to predict in a probabilistic manner when the human will perform different subtasks that may require robot assistance. The representation is a graphical model where the start and end of each subtask is explicitly represented as a probabilistic variable conditioned upon prior intervals. This formulation allows the inclusion of uncertain perceptual detections as evidence to drive the predictions. Next, given a cost function that describes the penalty for different wait times, we develop a planning algorithm which selects robot-actions that minimize the expected cost based upon the distribution over predicted human-action timings. We demonstrate the approach in assembly tasks where the robot must provide the right part at the right time depending upon the choices made by the human operator during the assembly. | en_US |
| dc.embargo.terms | null | en_US |
| dc.identifier.citation | Hawkins, K.; Vo, N.; Bansal, S. and Bobick, A. (2013). “Probabilistic Human Action Prediction and Wait-sensitive Planning for Responsive Human-robot Collaboration”. Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids 2013), 15-17 October 2013. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/50890 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Human-robot collaboration | en_US |
| dc.subject | Sensors | en_US |
| dc.subject | Wait times | en_US |
| dc.title | Probabilistic Human Action Prediction and Wait-sensitive Planning for Responsive Human-robot Collaboration | en_US |
| dc.type | Text | |
| dc.type.genre | Post-print | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | Humanoid Robotics Laboratory | |
| relation.isOrgUnitOfPublication | 05bf85fb-965e-425d-af8b-dbf56e0d9797 |