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On the application of classical planning to real social robotic tasks

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dc.affiliation.dptoUC3M. Departamento de Informáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Planificación y Aprendizajees
dc.contributor.authorGonzález Dorado, José Carlos
dc.contributor.authorFernández Rebollo, Fernando
dc.contributor.authorGarcía Olaya, Ángel
dc.contributor.authorFuentetaja Pizán, Raquel
dc.date.accessioned2020-06-04T11:40:49Z
dc.date.available2020-06-04T11:40:49Z
dc.date.issued2017-06-19
dc.descriptionPittsburgh, USA (19-20 June 2017)es
dc.description.abstractAutomated Planning is now a mature area offering several techniques and search heuristics extremely useful to solve problems in realistic domains. However, its application to real and dynamic environments as Social Robotics requires much work focused, not only in the efficiency of the planners, but also in tractable task modeling and efficient execution and monitoring of the plan into the robotic control architecture. This paper identifies the main issues that must be taken into account while using classical Automated Planning for the control of a social robot and contributes some practical solutions to overcome such inherent difficulties. Some of them are the discrimination between predicates for internal control and external sensing, the concept of predicted nominal behavior with corrective actions or plans, the continuous monitoring of the plan execution and the handling of action interruptions. This manuscript highlights the dependencies between all the design and deployment activities involved: task modeling, plan generation, and action execution and monitoring. A task of Comprehensive Geriatric Assessment (CGA) is used as an illustrative example that can be easily generalized to any other interactive task.en
dc.identifier.bibliographicCitationFernandez Rebollo, Fernando; Fuentetaja Pizan, Raquel; Garcia Olaya, Angel; Gonzalez Dorado, Jose Carlos (2017). On the application of classical planning to real social robotic tasks. 27th International Conference on Automated Planning and Scheduling June 19-23, 2017, Pittsburgh, USA. PlanRob 2017 Proceedings of the 5th Workshop on Planning and Robotics. : Pp. 38-47en
dc.identifier.publicationfirstpage38
dc.identifier.publicationlastpage47
dc.identifier.publicationtitle27th International Conference on Automated Planning and Scheduling June 19-23, 2017, Pittsburgh, USA. PlanRob 2017 Proceedings of the 5th Workshop on Planning and Roboticsen
dc.identifier.urihttps://hdl.handle.net/10016/30555
dc.identifier.uxxiCC/0000030378
dc.language.isoenges
dc.publisherAAAI pressen
dc.relation.eventdate2017-06-19
dc.relation.eventplaceESTADOS UNIDOS DE AMERICAes
dc.relation.eventtitle5th Workshop on planning and roboticsen
dc.rights© 2018, Association for the Advancement of Artificial Intelligenceen
dc.rights.accessRightsopen accessen
dc.subject.ecienciaInformáticaes
dc.titleOn the application of classical planning to real social robotic taskses
dc.typeconference proceedings*
dc.type.hasVersionAM*
dspace.entity.typePublication
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