Pregled bibliografske jedinice broj: 890530
Human Intention Recognition in Flexible Robotized Warehouses based on Markov Decision Processes
Human Intention Recognition in Flexible Robotized Warehouses based on Markov Decision Processes // Iberian Robotics Conference (ROBOT)
Sevilla, 2017. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 890530 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Human Intention Recognition in Flexible Robotized Warehouses based on Markov Decision Processes
Autori
Petković, Tomislav ; Marković, Ivan ; Petrović, Ivan
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Iberian Robotics Conference (ROBOT)
/ - Sevilla, 2017
Skup
Iberian Robotics Conference (ROBOT)
Mjesto i datum
Sevilla, Španjolska, 22.11.2017. - 24.11.2017
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
human intention recognition ; Markov decision processes ; hidden Markov model ; theory of mind
Sažetak
The rapid growth of e-commerce increases the need for larger warehouses and their automation, thus using robots as assistants to human workers becomes a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions. Theory of mind (ToM) is an intuitive conception of other agents’ mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we present a ToM-based algorithm for human intention recognition in flexible robotized warehouses. We have placed the warehouse worker in a simulated 2D environment with three potential goals. We observe agent’s actions and validate them with respect to the goal locations using a Markov decision process framework. Those observations are then processed by the proposed hidden Markov model framework which estimated agent’s desires. We demonstrate that the proposed framework predicts human warehouse worker’s desires in an intuitive manner and in the end we discuss the simulation results.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti
POVEZANOST RADA
Projekti:
EK-H2020-688117 - Sigurna interakcija ljudi i robota u logističkim primjenama za visoko fleksibilna skladišta (SafeLog) (Petrović, Ivan, EK ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb