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Planning to Chronicle

Planning to Chronicle Hazhar Rahmani, Dylan A. Shell, and Jason M. O'Kane An important class of applications entails a robot monitoring or recording the evolution of an uncertain time-extended process, where the robot exercises no causal authority over the evolving process, but chooses what it captures. The robot's objective is to observe the underlying process and produce a `chronicle' of occurrent events, subject to a specification of the sorts of sequences that are of interest. Our paper examines variants of such planning problems when the robot aims to collect sets of observations to meet a rich specification of their sequential structure. We study this class of problems by modeling a stochastic process via a variant of a hidden Markov model, and specify desirable event sequences as a regular language, developing a vocabulary of `mutators' that enable sophisticated requirements to be expressed. Keywords: Planning, Story-telling, Reconnoitering, Raconteuring, Goal POMDP