Dr Nick Hawes

Reader in Autonomous Intelligent Robotics

School of Computer Science
University of Birmingham
Edgbaston, Birmingham, B15 2TT
United Kingdom

Email: n.a.hawes@cs.bham.ac.uk
Twitter: @hawesie
Phone: +44 (0) 121 41 43739
Office: 133 (first floor, back right)
Office Hours: Mon 12:00, Tues 11:00 (term-time only)
Availability: Doodle MeetMe
[lacerda17icaps] Bruno Lacerda, David Parker and Nick Hawes. Multi-Objective Policy Generation for Mobile Robots Under Probabilistic Time-Bounded Guarantees. In The 27th International Conference on Automated Planning and Scheduling (ICAPS 2017). June 2017. [pdf] [bib]
Abstract. We present a methodology for the generation of mobile robot controllers which offer probabilistic time-bounded guarantees on successful task completion, whilst also trying to satisfy soft goals. The approach is based on a stochastic model of the robot’s environment and action execution times, a set of soft goals, and a formal task specification in co-safe linear temporal logic, which are analysed using multi-objective model checking techniques for Markov decision processes. For efficiency, we propose a novel two-step approach. First, we explore policies on the Pareto front for minimising expected task execution time whilst optimising the achievement of soft goals. Then, we use this to prune a model with more detailed timing information, yielding a time-dependent policy for which more fine-grained probabilistic guarantees can be provided. We illustrate and evaluate the generation of policies on a delivery task in a care home scenario, where the robot also tries to engage in entertainment activities with the patients.
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