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Knowledge-Level Planning with Incomplete Information, R. Petrick, slides from a talk presented at the ICSR 2011 tutorial on Joint Action for Social Robotics: How to Build a Robot that Works Together with Several Humans, Amsterdam, Netherlands, 2011-11-23.

[ slides ]


The ability to plan is essential for intelligent agents acting (jointly or otherwise) in dynamic and incompletely known worlds, such as those that arise in JAMES (Joint Action for Multimodal Embodied Social Systems), an EU FP7 project exploring the problem of social interaction in multi-agent environments. Achieving goals under such conditions often requires complex forward deliberation rather than simply reacting to a situation without considering the long term consequences of actions. This tutorial talk gives an overview of automated planning techniques and describes in detail the PKS (Planning with Knowledge and Sensing) planner used in JAMES. We focus on the problem of planning with incomplete information and sensing actions, and demonstrate how joint actions for both physical tasks and interaction tasks can be planned using PKS.