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dc.contributor.authorHawkins, Kelsey P.
dc.contributor.authorVo, Nam
dc.contributor.authorBansal, Shray
dc.contributor.authorBobic, Aaron F.
dc.date.accessioned2014-02-14T18:37:25Z
dc.date.available2014-02-14T18:37:25Z
dc.date.issued2013-10
dc.identifier.citationHawkins, K.; Vo, N.; Bansal, S. and Bobick, A. (2013). “Probabilistic Human Action Prediction and Wait-sensitive Planning for Responsive Human-robot Collaboration”. Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids 2013), 15-17 October 2013.en_US
dc.identifier.urihttp://hdl.handle.net/1853/50890
dc.description© 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.en_US
dc.description.abstractA novel representation for the human component of multi-step, human-robot collaborative activity is presented. The goal of the system is to predict in a probabilistic manner when the human will perform different subtasks that may require robot assistance. The representation is a graphical model where the start and end of each subtask is explicitly represented as a probabilistic variable conditioned upon prior intervals. This formulation allows the inclusion of uncertain perceptual detections as evidence to drive the predictions. Next, given a cost function that describes the penalty for different wait times, we develop a planning algorithm which selects robot-actions that minimize the expected cost based upon the distribution over predicted human-action timings. We demonstrate the approach in assembly tasks where the robot must provide the right part at the right time depending upon the choices made by the human operator during the assembly.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectHuman-robot collaborationen_US
dc.subjectSensorsen_US
dc.subjectWait timesen_US
dc.titleProbabilistic Human Action Prediction and Wait-sensitive Planning for Responsive Human-robot Collaborationen_US
dc.typePost-printen_US
dc.typeProceedings
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameGeorgia Institute of Technology. College of Computingen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Interactive Computingen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineers
dc.embargo.termsnullen_US


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