Learning user preferences in robot motion planning through interaction

Nils Wilde, Dana Kulic, Stephen L J Smith

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

7 Citations (Scopus)

Abstract

In this paper we develop an approach for learning user preferences for complex task specifications through human-robot interaction. We consider the problem of planning robot motion in a known environment, but where a user has specified additional spatial and temporal constraints on allowable robot motions. To illustrate the impact of the user's constraints on performance, we iteratively present users with alternative solutions on an interface. The user provides a ranking of alternate paths, and from this we learn about the importance of different constraints. This allows for an accessible method for specifying complex robot tasks. We present an algorithm that iteratively builds a set of constraints on the relative importance of each user constraint, and prove that with sufficient interaction, the algorithm determines a user-optimal path. We demonstrate the practical performance by simulating realistic material transport scenarios in industrial facilities.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation (ICRA 2018)
EditorsPeter Corke, Nancy M. Amato, Megan Emmons, Yoshihiko Nakamura, Markus Vincze
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages619-626
Number of pages8
ISBN (Electronic)9781538630815, 9781538630808
ISBN (Print)9781538630822
DOIs
Publication statusPublished - 10 Sep 2018
Externally publishedYes
EventIEEE International Conference on Robotics and Automation 2018 - Brisbane Convention & Exhibition Centre, Brisbane, Australia
Duration: 21 May 201825 May 2018
https://icra2018.org/
https://ieeexplore.ieee.org/xpl/conhome/8449910/proceeding (Proceedings)

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)1050-4729

Conference

ConferenceIEEE International Conference on Robotics and Automation 2018
Abbreviated titleICRA 2018
CountryAustralia
CityBrisbane
Period21/05/1825/05/18
Internet address

Cite this

Wilde, N., Kulic, D., & Smith, S. L. J. (2018). Learning user preferences in robot motion planning through interaction. In P. Corke, N. M. Amato, M. Emmons, Y. Nakamura, & M. Vincze (Eds.), 2018 IEEE International Conference on Robotics and Automation (ICRA 2018) (pp. 619-626). (Proceedings - IEEE International Conference on Robotics and Automation). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICRA.2018.8460586