Challenges on the Application of Automated Planning for Comprehensive Geriatric Assessment Using an Autonomous Social Robot

Abstract

http : //wvv.pl g. inf.uc3m.es Abstract. Comprehensive Geriatric Assessment is a medical procedure to evaluate t he physical, social and psychological status of elder patients. One of it s phases consists of performing different tests t o the pat ient or relatives. In t his paper we present the challenges to apply Automated P lanning to control an autonomous robot helping t he clinician to perform such test s. On t he one hand the paper focuses on the modelling decisions t aken, from an init ial approach where each t est was encoded using slightly different domains, to the final unified domain allowing any test to be represented. On the other hand, the paper deals with practical issues arisen when executing the plans. Preliminary t ests performed with real users show that t he proposed approach is able to seamlessly handle t he patient-robot interaction in real time, recovering from unexpected events and adapt ing t o t he users' preferred input method, while being able to gather all the informat ion needed by t he clinician.

A Review of Plan-Based Approaches for Dialogue Management

“…Handling uncertainty on the current state has also been addressed with the use of replanning (Dynamic Policy Through Replanning). In Garcia et al [59], a plan is built by assuming that each action execution will result in the most likely effect. When this is not the case, replanning is conducted.…”

“…When the agent's communicative plan fails (e.g., a belief about the other agent was wrong), it immediately updates its beliefs and replans. In the approach of [59], besides replanning if some error occurs during execution, replanning is also conducted if some unexpected event modifies the planned flow and invalidates the next planned action. In [67], instead, in case of a non-expected input, replanning can be conducted without affecting the ongoing dialogue session.…”

An Automated Planning Model for HRI: Use Cases on Social Assistive Robotics

“…Finally, some communicative acts can be marked as restoration points, attribute is_restoration_point . Restoration points define points of the interaction to come back when some action is interrupted before the next restoration point is reached, to recover the interaction context [ 27 ]. For example if the patient leaves the room while the robot is waiting for an answer, when the interaction is resumed the execution should start by asking the question again.…”

“…Thanks to the conceptual model the domain will be unique for the family of HRI tasks; the details of each one, including possible adaptations to the patient conditions, will be modeled using different problems. The methodology followed to create the domain, including the selection of the planning approach, the planning horizon, the model partition, or the design of the actions and the states, is presented in a previous work [ 27 ]. To summarize, since it is a single-robot environment there is neither need for concurrent actions nor for complex time reasoning.…”

“…However, even in the case of simplest task representation models, like the ones generated for Classical Planning using PDDL2.1 [ 26 ], formalizing complex tasks is hard for non-expert engineers [ 27 ]. Insufficient knowledge about the rationality of the causal models, the limitations of current planners, or even the lack of good editors make it difficult to use AP solutions.…”