Finite-Horizon Synthesis for Probabilistic Manipulation Domains
M. Wells Zachary Kingston Morteza Lahijanian Lydia E. Kavraki Moshe Y. Vardi M. Wells Zachary Kingston Morteza Lahijanian Lydia E. Kavraki Moshe Y. Vardi
Robots have begun operating and collaborating with humans in industrial and social settings. This collaboration introduces challenges: the robot must plan while taking the human’s actions into account. In prior work, the problem was posed as a 2-player deterministic game, with a limited number of human moves. The limit on human moves is unintuitive, and in many settings determinism is undesirable....