Towards Adaptive Planning of Assistive-care Robot Tasks

This 'research preview' paper introduces an adaptive path planning framework for robotic mission execution in assistive-care applications. The provides a graph-based environment modelling approach, with dynamic finding performed using Dijkstra's algorithm. A predictive module that uses probabilistic model checking is applied to estimate the human's movement through environment, allowing run-time re-planning of robot's path. We illustrate use simulated case study which mobile robot navigates and monitors end user mild physical or cognitive impairments.