Learning Dynamic Systems for Intention Recognition in Human-Robot-Cooperation
Abstract
This thesis is concerned with intention recognition for a humanoid robot and investigates how the challenges of uncertain and incomplete observations, a high degree of detail of the used models, and real-time inference may be addressed by modeling the human rationale as hybrid, dynamic Bayesian networks and performing inference with these models. The key focus lies on the automatic identification of the employed nonlinear stochastic dependencies and the situation-specific inference.
Keywords
Intention Recognition; Dynamic Systems; (Conditional) Density Estimation; Regularization; Human-Robot-CooperationISBN
9783866449527Publisher
KIT Scientific PublishingPublisher website
http://www.ksp.kit.edu/Publication date and place
2013Series
Karlsruhe Series on Intelligent Sensor-Actuator-Systems / Karlsruher Institut für Technologie, Intelligent Sensor-Actuator-Systems Laboratory,Classification
Computer science