Towards Planning and Adaptation of Assistive-care Robot Tasks

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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.
Original languageEnglish
Title of host publicationFourth Workshop on Formal Methods for Autonomous Systems
Number of pages9
Publication statusAccepted/In press - 2022

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