Signaling Friends and Head-Faking Enemies Simultaneously: Balancing Goal
  Obfuscation and Goal Legibility
  In order to be useful in the real world, AI agents need to plan and act in
the presence of others, who may include adversarial and cooperative entities.
In this paper, we consider the problem where an autonomous agent needs to act
in a manner that clarifies its objectives to cooperative entities while
preventing adversarial entities from inferring those objectives. We show that
this problem is solvable when cooperative entities and adversarial entities use
different types of sensors and/or prior knowledge. We develop two new solution
approaches for computing such plans. One approach provides an optimal solution
to the problem by using an IP solver to provide maximum obfuscation for
adversarial entities while providing maximum legibility for cooperative
entities in the environment, whereas the other approach provides a satisficing
solution using heuristic-guided forward search to achieve preset levels of
obfuscation and legibility for adversarial and cooperative entities
respectively. We show the feasibility and utility of our algorithms through
extensive empirical evaluation on problems derived from planning benchmarks.
