Peter Stone's Selected Publications

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Multi-Robot Human Guidance: Human Experiments and Multiple Concurrent Requests

Piyush Khandelwal and Peter Stone. Multi-Robot Human Guidance: Human Experiments and Multiple Concurrent Requests. In International Conference on Autonomous Agents and Multiagent Systems (AAMAS), May 2017.

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Abstract

In the multi-robot human guidance problem, a centralized controller makes use of multiple robots to provide navigational assistance to a human in order to reach a goal location. Previous work used Markov Decision Processes (MDPs) to construct a formalization for this problem, and evaluated this framework in an abstract setting only, i.e. without experiments using high-fidelity simulators or real humans. Additionally, it was unable to handle multiple concurrent requests and did not consider buildings with multiple floors. The main contribution of this paper is the introduction of an extended MDP framework for the multi-robot human guidance problem, and its application using a realistic 3D simulation environment and a real multi-robot system. The MDP formulation presented in this paper includes support for planning for multiple guidance requests concurrently as well as requests that require a human to traverse multiple floors. We evaluate this system using real humans controlling simulated avatars, and provide a video demonstration of the system implemented on real robots.

BibTeX Entry

@InProceedings{AAMAS17-khandelwal,
  author = {Piyush Khandelwal and Peter Stone},
  title = {Multi-Robot Human Guidance: Human Experiments and Multiple Concurrent Requests},
  booktitle = {International Conference on Autonomous Agents and Multiagent Systems (AAMAS)},
  location = {São Paulo, Brazil},
  month = {May},
  year = {2017},
  abstract = {
    In the multi-robot human guidance problem, a centralized
    controller makes use of multiple robots to provide navigational 
    assistance to a human in order to reach a goal location.
    Previous work used Markov Decision Processes (MDPs) to
    construct a formalization for this problem, and evaluated 
    this framework in an abstract setting only, i.e. without
    experiments using high-fidelity simulators or real humans.
    Additionally, it was unable to handle multiple concurrent
    requests and did not consider buildings with multiple floors.
    The main contribution of this paper is the introduction of
    an extended MDP framework for the multi-robot human
    guidance problem, and its application using a realistic 3D
    simulation environment and a real multi-robot system. The
    MDP formulation presented in this paper includes support
    for planning for multiple guidance requests concurrently as
    well as requests that require a human to traverse multiple
    floors. We evaluate this system using real humans controlling 
    simulated avatars, and provide a video demonstration
    of the system implemented on real robots.
  },
}

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