Towards Adaptive Planning of Assistive-care Robot Tasks
Robotics
2022-09-29 v1
Abstract
This 'research preview' paper introduces an adaptive path planning framework for robotic mission execution in assistive-care applications. The framework provides a graph-based environment modelling approach, with dynamic path finding performed using Dijkstra's algorithm. A predictive module that uses probabilistic model checking is applied to estimate the human's movement through the environment, allowing run-time re-planning of the robot's path. We illustrate the use of the framework for a simulated assistive-care case study in which a mobile robot navigates through the environment and monitors an end user with mild physical or cognitive impairments.
Keywords
Cite
@article{arxiv.2209.14041,
title = {Towards Adaptive Planning of Assistive-care Robot Tasks},
author = {Jordan Hamilton and Ioannis Stefanakos and Radu Calinescu and Javier Cámara},
journal= {arXiv preprint arXiv:2209.14041},
year = {2022}
}
Comments
In Proceedings FMAS2022 ASYDE2022, arXiv:2209.13181