DEL-based Epistemic Planning for Human-Robot Collaboration: Theory and Implementation

Thomas Bolander, Lasse Dissing Hansen, Nicolai Herrmann

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Abstract

Epistemic planning based on Dynamic Epistemic Logic (DEL) allows agents to reason and plan from the perspective of other agents. The framework of DEL-based epistemic planning thereby has the potential to represent significant aspects of Theory of Mind in autonomous robots, and to provide a foundation for human-robot collaboration in which coordination is achieved implicitly through perspective shifts. In this paper, we build on previous work in epistemic planning with implicit coordination. We introduce a new notion of indistinguishability between epistemic states based on bisimulation, and provide a novel partition refinement algorithm for computing unique representatives of sets of indistinguishable states. We provide an algorithm for computing implicitly coordinated plans using these new constructs, embed it in a perceive-plan-act agent loop, and implement it on a robot. The planning algorithm is benchmarked against an existing epistemic planning algorithm, and the robotic implementation is demonstrated on human-robot collaboration scenarios requiring implicit coordination.
Original languageEnglish
Title of host publicationProceedings of the 18th International Conference on Principles of Knowledge Representation and Reasoning
PublisherInternational Joint Conferences on Artificial Intelligence Organization
Publication date2021
Pages120–129
ISBN (Print)978-1-956792-99-7
DOIs
Publication statusPublished - 2021
Event18th International Conference on Principles of Knowledge Representation and Reasoning - Virtual event
Duration: 3 Nov 202112 Nov 2021
https://kr2021.kbsg.rwth-aachen.de/

Conference

Conference18th International Conference on Principles of Knowledge Representation and Reasoning
LocationVirtual event
Period03/11/202112/11/2021
Internet address

Keywords

  • KR and autonomous agents and multi-agent systems
  • Multi-robot planning and coordination
  • Reasoning about knowledge, beliefs, and other mental attitudes
  • Social intelligence for robots in human-centric environments

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