Prepoznavanje namjere čovjeka zasnovano na Markovljevim procesima odlučivanja

master's thesis

• Title (english): Human Intention Recognition Based on Markov Decision Processes
• Author: Tomislav Petković
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (predsjednik povjerenstva)
• Committee member: Ivan Petrović (član povjerenstva)
• Committee member: Marija Seder (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2017-07-17, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Ubrzan rast e-trgovanja povećava potrebu za većim skladištima i njihovom automatizacijom. Korištenje robota za asistenciju ljudskim radnicima postaje prioritet. Robot mora prepoznati čovjekove namjere ako želi asistirati efikasno i sigurno. Teorija uma je ljudski intuitivni koncept procjena mentalnih stanja drugih agenata, poput uvjerenja i želja, i kako ona utječu na ponašanje. U ovom smo radu prezentirali algoritam za prepoznavanje čovjekove namjere baziran na teoriji uma koristeći Markovljeve procese odlučivanja i skriven Markovljev model. Pokazali smo kako predložen algoritam precizno predviđa ljudske želje.

Abstract (english)

The rapid growth of e-commerce increases the need for larger
warehouses and their automation. Using robots as assistants to human
workers becomes priority. In order to operate efficiently and safely, robot
assistants must recognize human intentions. Theory of mind (ToM) is
our intuitive conception of other agents' mental state, i.e. beliefs and desires, and how they cause behavior. In this paper we present a ToM-based human intention recognition algorithm. We have placed the warehouse worker in a 2D simulation environment with three potential goals.We observe agent's actions and validate them with respect to the goal locations using Markov decision process framework. Those observations are then processed by proposed hidden Markov model framework which yields agent's desires estimations. We show that the proposed framework predicts human warehouse worker's desires accurately and comment upon the simulation results.

• Keywords: prepoznavanje čovjekove namjere; Markovljevi procesi odlučivanja; skriven Markovljev model; teorija uma
• Keywords (english): human intention recognition; Markov decision processes; hidden Markov model; Theory of Mind
• Language: english
• URN:NBN: urn:nbn:hr:168:667107
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-03-13 23:53:48