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Planning under Uncertainty for Reliable Health Care Robotics

  • Nicholas Roy
  • Geoffrey Gordon
  • Sebastian Thrun
Part 10 - Health Care and Service Tasks
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 24)

Abstract

We describe a mobile robot system, designed to assist residents of an retirement facility. This system is being developed to respond to an aging population and a predicted shortage of nursing professionals. In this paper, we discuss the task of finding and escorting people from place to place in the facility, a task containing uncertainty throughout the problem.

Planning algorithms that model uncertainty well such as Partially Observable Markov Decision Processes (POMDPs) do not scale tractably to real world problems such as the health care domain. We demonstrate an algorithm for representing real world POMDP problems compactly, which allows us to find good policies in reasonable amounts of time. We show that our algorithm is able to find moving people in close to optimal time, where the optimal policy starts with knowledge of the person’s location.

Keywords

Belief State Neural Information Processing System Linear Manifold Partially Observable Markov Decision Process Dimensionality Reduction Technique 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Authors and Affiliations

  • Nicholas Roy
    • 1
  • Geoffrey Gordon
    • 1
  • Sebastian Thrun
    • 1
  1. 1.School of Computer Science, Carnegie Mellon University, Pittsburgh, PA 15213 

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