scholarly journals DEL-based Epistemic Planning for Human-Robot Collaboration: Theory and Implementation

2021 ◽  
Author(s):  
Thomas Bolander ◽  
Lasse Dissing ◽  
Nicolai Herrmann
Keyword(s):  
Theory Of Mind ◽  
Epistemic Logic ◽  
Autonomous Robots ◽  
Dynamic Epistemic Logic ◽  
Epistemic States ◽  
Planning Algorithm ◽  
Implicit Coordination ◽  
Human Robot Collaboration ◽  
Refinement Algorithm ◽  
Partition Refinement

Epistemic planning based on Dynamic Epistemic Logic (DEL) allows agents to reason and plan from the perspective of other agents. The framework of DEL-based epistemic planning thereby has the potential to represent significant aspects of Theory of Mind in autonomous robots, and to provide a foundation for human-robot collaboration in which coordination is achieved implicitly through perspective shifts. In this paper, we build on previous work in epistemic planning with implicit coordination. We introduce a new notion of indistinguishability between epistemic states based on bisimulation, and provide a novel partition refinement algorithm for computing unique representatives of sets of indistinguishable states. We provide an algorithm for computing implicitly coordinated plans using these new constructs, embed it in a perceive-plan-act agent loop, and implement it on a robot. The planning algorithm is benchmarked against an existing epistemic planning algorithm, and the robotic implementation is demonstrated on human-robot collaboration scenarios requiring implicit coordination.

scholarly journals Implementing Theory of Mind on a Robot Using Dynamic Epistemic Logic

2020 ◽  
Author(s):  
Lasse Dissing ◽  
Thomas Bolander
Keyword(s):  
Theory Of Mind ◽  
Epistemic Logic ◽  
Autonomous Agents ◽  
Relevant Information ◽  
Dynamic Epistemic Logic ◽  
False Belief ◽  
Autonomous Agent ◽  
Reasoning System ◽  
Perception System ◽  
False Belief Tasks

Previous research has claimed dynamic epistemic logic (DEL) to be a suitable formalism for representing essential aspects of a Theory of Mind (ToM) for an autonomous agent. This includes the ability of the formalism to represent the reasoning involved in false-belief tasks of arbitrary order, and hence for autonomous agents based on the formalism to become able to pass such tests. This paper provides evidence for the claims by documenting the implementation of a DEL-based reasoning system on a humanoid robot. Our implementation allows the robot to perform cognitive perspective-taking, in particular to reason about the first- and higher-order beliefs of other agents. We demonstrate how this allows the robot to pass a quite general class of false-belief tasks involving human agents. Additionally, as is briefly illustrated, it allows the robot to proactively provide human agents with relevant information in situations where a system without ToM-abilities would fail. The symbolic grounding problem of turning robotic sensor input into logical action descriptions in DEL is achieved via a perception system based on deep neural networks.

scholarly journals Parameterized Complexity of Theory of Mind Reasoning in Dynamic Epistemic Logic

2018 ◽  
Vol 27 (3) ◽  
pp. 255-294 ◽  
Author(s):  
Iris van de Pol ◽  
Iris van Rooij ◽  
Jakub Szymanik
Keyword(s):  
Theory Of Mind ◽  
Epistemic Logic ◽  
Parameterized Complexity ◽  
Dynamic Epistemic Logic

scholarly journals Synthesis of a Path-Planning Algorithm for Autonomous Robots Moving in a Game Environment during Collision Avoidance

Electronics ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 675
Author(s):  
Józef Lisowski
Keyword(s):  
Mobile Robot ◽  
Autonomous Robots ◽  
Control Process ◽  
Matrix Game ◽  
Matlab Simulink ◽  
Planning Algorithm ◽  
Mobile Robot Control ◽  
Game Environment ◽  
Path Planning Algorithm ◽  
Made In

This paper describes and illustrates the optimization of a safe mobile robot control process in collision situations using the model of a multistep matrix game of many participants in the form of a dual linear programming problem. The synthesis of non-cooperative and cooperative game control software was performed in Matlab/Simulink software to determine the safe path of the robot when passing a greater number of other robots and obstacles. The operation of the game motion control algorithm of a mobile robot is illustrated by computer simulations made in the Matlab/Simulink program of two real previously recorded navigation situations while passing dozens of other autonomous mobile robots.

Topo-Logic as a Dynamic-Epistemic Logic

2017 ◽  
pp. 330-346 ◽  
Author(s):  
Alexandru Baltag ◽  
Aybüke Özgün ◽  
Ana Lucia Vargas Sandoval
Keyword(s):  
Epistemic Logic ◽  
Dynamic Epistemic Logic

scholarly journals The Dynamic Epistemic Logic for Actual Knowledge

2020 ◽  
Vol 49 (1) ◽  
Author(s):  
Arkadiusz Wójcik
Keyword(s):  
Epistemic Logic ◽  
Dynamic Epistemic Logic ◽  
Logical Omniscience ◽  
Actual Knowledge ◽  
Knowledge Change ◽  
The Past ◽  
Knowledge Models ◽  
Complete Axiomatization ◽  
New Information

The dynamic epistemic logic for actual knowledge models the phenomenon of actual knowledge change when new information is received. In contrast to the systems of dynamic epistemic logic which have been discussed in the past literature, our system is not burdened with the problem of logical omniscience, that is, an idealized assumption that the agent explicitly knows all classical tautologies and all logical consequences of his or her knowledge. We provide a sound and complete axiomatization for this logic.

scholarly journals Playing cards with Hintikka An introduction to dynamic epistemic logic

2005 ◽  
Vol 3 ◽  
Author(s):  
H. P. Ditmarsch ◽  
W. Van Der Hoek ◽  
B. P. Kooi
Keyword(s):  
Epistemic Logic ◽  
Common Knowledge ◽  
Dynamic Epistemic Logic ◽  
Knowledge And Beliefs ◽  
Public Announcements

This contribution is a gentle introduction to so-called dynamic epistemic logics, that can describe how agents change their knowledge and beliefs. We start with a concise introduction to epistemic logic, through the example of one, two and finally three players holding cards; and, mainly for the purpose of motivating the dynamics, we also very summarily introduce the concepts of general and common knowledge. We then pay ample attention to the logic of public announcements, wherein agents change their knowledge as the result of public announcements. One crucial topic in that setting is that of unsuccessful updates: formulas that become false when announced. The Moore-sentences that were already extensively discussed at the conception of epistemic logic in Hintikka’s ‘Knowledge and Belief ’ (1962) give rise to such unsuccessful updates. After that, we present a few examples of more complex epistemic updates.

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