Human environments are challenging for robots, which need to be trainable by lay people and learn new behaviours rapidly without disrupting much the ongoing activity. A system that integrates AI techniques for planning and learning is here proposed to satisfy these strong demands. The approach rapidly learns planning operators from few action experiences using a competitive strategy where many alternatives of cause-effect explanations are evaluated in parallel, and the most successful ones are used to generate the operators. The success of a cause-effect explanation is evaluated by a probabilistic estimate that compensates the lack of experience, producing more confident estimations and speeding up the learning in relation to other known estimates. The system operates without task interruption by integrating in the planning-learning loop a human teacher that supports the planner in making decisions. All the mechanisms are integrated and synchronized in the robot using a general decision-making framework. The feasibility and scalability of the architecture are evaluated in two different robot platforms: a Stäubli arm, and the humanoid ARMAR III. ; Peer Reviewed ; Postprint (author’s final draft)


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Integrating task planning and interactive learning for robots to work in human environments



    Erscheinungsdatum :

    2011-01-01


    Medientyp :

    Sonstige


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Integrating task planning and interactive learning for robots to work in human environments

    Agostini, Alejandro / Torras, Carme / Wörgötter, Florentin | BASE | 2011

    Freier Zugriff

    Trajectory Planning for Robots in Dynamic Human Environments

    Svenstrup, Mikael / Bak, Thomas / Andersen, Hans Jørgen | BASE | 2010

    Freier Zugriff


    Interactive-rate motion planning for concentric tube robots

    Torres, Luis G. / Baykal, Cenk / Alterovitz, Ron | IEEE | 2014


    Integrating planning and control for single-bodied wheeled mobile robots

    Conner, D. C. | British Library Online Contents | 2011