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Mightability maps: A perceptual level decisional framework for co-operative and competitive human-robot interaction

Amit Kumar Pandey 1, 2 Rachid Alami 2
2 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : Interestingly Humans are able to maintain a rough estimates of visibility, reachability and other capabilities about not only themselves but of the person they are interacting with. Studies in neuroscience and psychology suggests that from the age of 12-15 months children start to understand the occlusion of others' line-of-sight and from the age of 3 years they start to develop the ability, termed as perceived reachability for self and for others'. As such capabilities evolve in the children, they start showing intuitive and proactive behavior by perceiving various abilities of the human partner. Inspired from such studies, which suggest that visuo-spatial perception plays an important role in human-human interaction, we propose to equip our robot with the capabilities to maintain various types of reachabilities and visibilities of itself and of the human partner in the shared workspace. Since these analyses will be basically perceived by performing a virtual action onto the agent and roughly estimating what that agent might be able to 'see' and 'reach' in 3D space, we term these representations as Mightability Maps. By applying various set theory operations on weighted Mightability maps, robot could perceive a set of possible candidate solutions in real time for various tasks. We show its application in two completely different behaviors of robot: Cooperative and competitive behaviors. In the first case robot decides for two tasks: where to show an object to the human and where to put an object on the table for the Human. In the second case robot decides where to hide an object from human. These maps are quick to compute and could help in developing higher-level decisional capabilities in the robot.
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https://hal.laas.fr/hal-01977478
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Amit Kumar Pandey, Rachid Alami. Mightability maps: A perceptual level decisional framework for co-operative and competitive human-robot interaction. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2010, Taipei, Taiwan. ⟨hal-01977478⟩

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