Robot Planning with Mathematical Models of Human State and Action
This addresses the problem of enabling robots to better interact with people, but it appears incremental as it builds on existing game-theoretic and cognitive modeling approaches.
The paper advocates for integrating computational cognitive models of people into robot planning to improve human-robot interaction, analyzing how different approximations from a game-theoretic formulation lead to useful coordination behaviors for robots.
Robots interacting with the physical world plan with models of physics. We advocate that robots interacting with people need to plan with models of cognition. This writeup summarizes the insights we have gained in integrating computational cognitive models of people into robotics planning and control. It starts from a general game-theoretic formulation of interaction, and analyzes how different approximations result in different useful coordination behaviors for the robot during its interaction with people.