论文标题
朝着辅助机器人任务的自适应计划
Towards Adaptive Planning of Assistive-care Robot Tasks
论文作者
论文摘要
该“研究预览”论文介绍了一个自适应路径计划框架，用于辅助护理应用程序中的机器人任务执行。该框架提供了一种基于图的环境建模方法，使用Dijkstra的算法进行了动态路径查找。 使用使用概率模型检查的预测模块可以估计人类通过环境的运动，从而可以重新分布机器人路径的运行时间。我们说明了该框架用于模拟辅助护理案例研究，其中移动机器人在环境中导航并监视最终用户，具有轻度的身体或认知障碍。
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.
