risk_aware_decision_making

This is a ROS package that represents a risk aware decision making framework for assistive robots. It is authored by Roya Sabbagh Novin, Amir Yazdani, Andrew Merryweather, and Tucker Hermans from Utah Robotics Center, University of Utah.

More information about the paper and the method can be found in the paper website and a PDF version is available at the arXiv pape.

Features

Functionality:
- Risk-aware decision making for an assistive robot
  - Find the best intervention plan
  - Considering risk of fall for the patient
  - leveraging CVaR risk metric
- Human motion/intention prediction and fall score assessment
  - Generated human motion data in hospital room
  - Learned GPs for human motion
  - Predict probability distributions over intention and trajectory
  - Using developed fall score assessment model (Github repository for fall risk evaluation)
- Simulation
  - Gazebo visualization for simulation results
  - Provided Gazebo actor plugin to simulate patient motion
  - Including urdf for common objects in a hospital room
Input: Robot intial position, object type, object initial position and orientation, patient initial position and orientation, layot of the environment
Output: Human motion prediction, best intervention plan for robot, executed path for robot
Operating System: Ubuntu (16.04), ROS kinetic

Dependencies

Gazebo 8+ Install Gazebo any version above 8 should work. This package has been tested with Gazebo 9.12.0 for ubuntu.
youBot packages Install youbot_simulation and youbot_description packages. (link)

Installation

Make sure you have ROS-kinetic installed and your catkin workspace is generated
Clone the package in your catkin workspace
Make/build your catkin workspace
Enjoy!

How to set up and run

Set a simulation example in "main_simulation.py" or choose one from the available ones"
Run "launch_gazebo.launch"

Citation

Please cite these papers in your publications if it helps your research.

    @article{novin2020risk,
    title={Risk-Aware Decision Making in Service Robots to Minimize Risk of Patient Falls in Hospitals},
    author={Sabbagh Novin, Roya and Yazdani, Amir and Merryweather, Andrew and Hermans, Tucker},
    journal={arXiv preprint arXiv:2010.08124},
    year={2020}
    }

Links to the papers: