Online event. November 3-12, 2021.
Copyright © 2021 International Joint Conferences on Artificial Intelligence Organization
Epistemic planning based on Dynamic Epistemic Logic (DEL) allows agents to reason and plan from the perspective of other agents. The framework of DEL-based epistemic planning thereby has the potential to represent significant aspects of Theory of Mind in autonomous robots, and to provide a foundation for human-robot collaboration in which coordination is achieved implicitly through perspective shifts. In this paper, we build on previous work in epistemic planning with implicit coordination. We introduce a new notion of indistinguishability between epistemic states based on bisimulation, and provide a novel partition refinement algorithm for computing unique representatives of sets of indistinguishable states. We provide an algorithm for computing implicitly coordinated plans using these new constructs, embed it in a perceive-plan-act agent loop, and implement it on a robot. The planning algorithm is benchmarked against an existing epistemic planning algorithm, and the robotic implementation is demonstrated on human-robot collaboration scenarios requiring implicit coordination.