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Dynamic Chess - Strategic Planning for Robot Motion
We introduce and experimentally validate a novel algorithmic model for
physical adversarial interaction with hybrid dynamics. Applications of
this study range from safe human-robot interaction in service robotics
to strategic combat. Our computational solutions are complementary to
passive and compliant hardware. We focus on the case where the
adversary's motion can be predicted. In these cases, the robot can
select optimally safe motions in response to human actions or
optimally engage its adversaries. By representing the domain as a
Markov Game, we enable the robot to not only react to its adversary
but also to construct an infinite horizon optimal policy of actions
and responses. Experimentally, we apply our model to simulated robot
sword defense in our CONAN (CONtact ANticipation) framework. Our
approach enables a simulated 7-DOF robot arm to block known attacks in
any sequence. We generate optimized blocks and apply game theoretic
tools to choose the best action for the defender in the presence of an
intelligent adversary. Project Members
Publications
Conference
- 2011
Tobias Kunz, Peter Kingston, Mike Stilman, and Magnus Egerstedt
Dynamic Chess: Strategic Planning for Robot Motion
IEEE International Conference on Robotics and Automation.
2011.
We introduce and experimentally validate a novel algorithmic model for
physical human-robot interaction with hybrid dynamics. Our
computational solutions are complementary to passive and compliant
hardware. We focus on the case where human motion can be predicted. In
these cases, the robot can select optimal motions in response to human
actions and maximize safety. By representing the domain as a Markov
Game, we enable the robot to not only react to the human but also to
construct an infinite horizon optimal policy of actions and
responses. Experimentally, we apply our model to simulated robot sword
defense. Our approach enables a simulated 7-DOF robot arm to block
known attacks in any sequence. We generate optimized blocks and apply
game theoretic tools to choose the best action for the defender in the
presence of an intelligent adversary.
@inproceedings{kunz2011dynamic,
title = {Dynamic Chess: Strategic Planning for Robot Motion},
pages = {3796--3803},
month = {May},
booktitle = {IEEE International Conference on Robotics and Automation},
author = {Tobias Kunz and Kingston, Peter and Mike Stilman and Magnus Egerstedt},
year = {2011}
}
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