{"type":"ScholarlyArticle","title":"Heuristic Online Goal Recognition in Continuous Domains","authors":[{"name":"Mor Vered","slug":"mor-vered","given":"Mor","family":"Vered","affiliation":"Bar Ilan University , Ramat-Gan , Israel"},{"name":"Gal A. Kaminka","slug":"gal-a-kaminka","given":"Gal A.","family":"Kaminka","affiliation":"Bar Ilan University , Ramat-Gan , Israel"}],"abstract":"Goal recognition is the problem of inferring the goal of an agent, based on its observed actions. An inspiring approach—plan recognition by planning\r\n(PRP)—uses off-the-shelf planners to dynamically generate plans for given goals, eliminating the need for the traditional plan library. However, existing PRP formulation is inherently inefficient in online recognition, and cannot be used with motion planners for continuous spaces. In this paper, we utilize a different PRP formulation which allows for online goal recognition, and for application in continuous spaces. We present an online recognition algorithm, where two heuristic decision points may be used to improve run-time significantly over existing work. We specify heuristics for continuous domains, prove guarantees on their use, and empirically evaluate the algorithm over hundreds of experiments in both a 3D navigational environment and a cooperative robotic team task.","doi":"10.24963/ijcai.2017/621","url":"https://ijcai.org/proceedings/2017/621","pdf":"https://ijcai.org/proceedings/2017/0621.pdf","markdown":"https://ijcai.org/proceedings/2017/621.md","bibtex":"https://ijcai.org/proceedings/2017/bibtex/621","volume":{"slug":"2017","title":"Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2017","url":"https://ijcai.org/proceedings/2017/","year":2017,"location":"Melbourne, Australia","dates":"19-25 August 2017","editors":"Carles Sierra","isbn":"978-0-9992411-0-3","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2017"},"section":"Planning and Scheduling","track":"Main track","number":621,"pages":{"first":4447,"last":4454},"keywords":["Planning and Scheduling: Activity and Plan Recognition","Planning and Scheduling: Robot Planning"],"videos":[],"references":[{"position":1,"raw":"[Baker et al., 2005] Chris Baker, Rebecca Saxe, and Joshua B Tenenbaum. 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