Hamilton, Jordan, Stefanakos, Ioannis orcid.org/0000-0003-3741-252X, Calinescu, Radu orcid.org/0000-0002-2678-9260 et al. (1 more author) (Accepted: 2022) Towards Planning and Adaptation of Assistive-care Robot Tasks. In: Fourth Workshop on Formal Methods for Autonomous Systems. (In Press)
Abstract
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.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Dates: |
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Institution: | The University of York |
Academic Units: | The University of York > Faculty of Sciences (York) > Computer Science (York) |
Funding Information: | Funder Grant number EPSRC EP/V026747/1 additional GRIP funding |
Depositing User: | Pure (York) |
Date Deposited: | 20 Sep 2022 10:20 |
Last Modified: | 22 Mar 2025 00:15 |
Status: | In Press |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:191116 |