Combining epistemic planning and belief-based programming for collaborative task planning in stochastic domains

This project will combine advances from epistemic planning (embodied in planners such as PKS) with high-level programming constructs enabling the representation of beliefs and stochastic information (such as the ALLEGRO language) for the purpose of collaborative task planning. A new planning system will be built, supporting the generation of multiagent and human-in-the-loop planning in dynamic real-world environments, such as those involving collaborative human-robot interaction to build plans for shared goals, where each agent (artificial or human) carries out part of the planned activities based on their abilities. Appropriate interfaces to these tools will be developed in ROS to integrate them with existing robot simulators and ecosystems.