Peter Stone's Selected Publications

Classified by TopicClassified by Publication TypeSorted by DateSorted by First Author Last NameClassified by Funding Source


Multi-robot Human Guidance using Topological Graphs

Piyush Khandelwal and Peter Stone. Multi-robot Human Guidance using Topological Graphs. In AAAI Spring 2014 Symposium on Qualitative Representations for Robots (AAAI-SSS), March 2014.

Download

[PDF]1.1MB  [postscript]7.6MB  

Abstract

Prior approaches to human guidance using robots inside a building have typically been limited to a single robot guide that navigates a human from start to goal. However, due to their limited mobility, the robot is often unable to keep up with the human's natural speed. In contrast, this paper addresses this difference in mobility between robots and people by presenting an approach that uses multiple robots to guide a human. Our approach uses a compact topological graph representation of the environment, and we first present the procedure for generating this representation. Next, we formulate the multi-robot guidance problem as a Markov Decision Process (MDP). Using a model of human motion in the presence of guiding robots, we define the transition function for this MDP. Finally, we solve the MDP using Value Iteration to obtain an optimal policy for placing robots and evaluate this policy's effectiveness.

BibTeX Entry

@InProceedings{AAAISSS14-khandelwal,
  author = {Piyush Khandelwal and Peter Stone},
  title = {Multi-robot Human Guidance using Topological Graphs},
  booktitle = {AAAI Spring 2014 Symposium on Qualitative Representations for Robots (AAAI-SSS)},
  location = {Stanford, California, USA},
  month = {March},
  year = {2014},
  abstract = {
      Prior approaches to human guidance using robots inside a building have
      typically been limited to a single robot guide that navigates a human
      from start to goal. However, due to their limited mobility, the robot is
      often unable to keep up with the human's natural speed. In contrast, this
      paper addresses this difference in mobility between robots and people by
      presenting an approach that uses multiple robots to guide a human. Our
      approach uses a compact topological graph representation of the
      environment, and we first present the procedure for generating this
      representation. Next, we formulate the multi-robot guidance problem as a
      Markov Decision Process (MDP). Using a model of human motion in the
      presence of guiding robots, we define the transition function for this
      MDP. Finally, we solve the MDP using Value Iteration to obtain an
      optimal policy for placing robots and evaluate this policy's
      effectiveness.  
  },
}

Generated by bib2html.pl (written by Patrick Riley ) on Thu Dec 11, 2014 23:22:58