Action graphs for proactive robot assistance in smart environments

Harman, Helen and Simoens, Pieter (2020) Action graphs for proactive robot assistance in smart environments. Journal of Ambient Intelligence and Smart Environments, 12 (2). pp. 79-99. ISSN 1876-1364

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Smart environments can already observe the actions of a human through pervasive sensors. Based on these observations, our work aims to predict the actions a human is likely to perform next. Predictions can enable a robot to proactively assist humans by autonomously executing an action on their behalf. In this paper, Action Graphs are introduced to model the order constraints between actions. Action Graphs are derived from a problem defined in Planning Domain Definition Language (PDDL). When an action is observed, the node values are updated and next actions predicted. Subsequently, a robot executes one of the predicted actions if it does not impact the flow of the human by obstructing or delaying them. Our Action Graph approach is applied to a kitchen domain.

Keywords:Action prediction, proactive assistance, intention recognition, symbolic AI, smart environment
Subjects:G Mathematical and Computer Sciences > G700 Artificial Intelligence
Divisions:College of Science > Lincoln Institute for Agri-Food Technology
ID Code:44711
Deposited On:30 Apr 2021 11:00

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