Towards Planning and Adaptation of Assistive-care Robot Tasks

TY - GEN

T1 - Towards Planning and Adaptation of Assistive-care Robot Tasks

AU - Hamilton, Jordan

AU - Stefanakos, Ioannis

AU - Calinescu, Radu

AU - Camara, Javier

PY - 2022

Y1 - 2022

N2 - This research preview paper introduces an adaptive path planning framework for robotic mission execution in assistive-care applications. The framework provides a graph-based environment modelling approach, with dynamic path finding performed using Dijkstra's algorithm. A predictive module that uses probabilistic model checking is applied to estimate the human's movement through the environment, allowing run-time re-planning of the robot's path. We illustrate the use of the framework for a simulated assistive-care case study in which a mobile robot navigates through the environment and monitors an end user with mild physical or cognitive impairments.

AB - This research preview paper introduces an adaptive path planning framework for robotic mission execution in assistive-care applications. The framework provides a graph-based environment modelling approach, with dynamic path finding performed using Dijkstra's algorithm. A predictive module that uses probabilistic model checking is applied to estimate the human's movement through the environment, allowing run-time re-planning of the robot's path. We illustrate the use of the framework for a simulated assistive-care case study in which a mobile robot navigates through the environment and monitors an end user with mild physical or cognitive impairments.

M3 - Conference contribution

BT - Fourth Workshop on Formal Methods for Autonomous Systems

ER -