Planning for human robot interaction

Les avancées récentes en robotique inspirent des visions de robots domestiques et de service rendant nos vies plus faciles et plus confortables. De tels robots pourront exécuter différentes tâches de manipulation d'objets nécessaires pour des travaux de ménage, de façon autonome ou en coopération avec des humains. Dans ce rôle de compagnon humain, le robot doit répondre à de nombreuses exigences additionnelles comparées aux domaines bien établis de la robotique industrielle. Le but de la planification pour les robots est de parvenir à élaborer un comportement visant à satisfaire un but et qui obtient des résultats désirés et dans de bonnes conditions d'efficacité. Mais dans l'interaction homme-robot (HRI), le comportement robot ne peut pas simplement être jugé en termes de résultats corrects, mais il doit être agréable aux acteurs humains. Cela signifie que le comportement du robot doit obéir à des critères de qualité supplémentaire. Il doit être sûr, confortable pour l'homme, et être intuitivement compris. Il existe des pratiques pour assurer la sécurité et offrir un confort en gardant des distances suffisantes entre le robot et des personnes à proximité. Toutefois fournir un comportement qui est intuitivement compris reste un défi. Ce défi augmente considérablement dans les situations d'interaction homme-robot dynamique, où les actions de la personne sont imprévisibles, le robot devant adapter en permanence ses plans aux changements. Cette thèse propose une approche nouvelle et des méthodes pour améliorer la lisibilité du comportement du robot dans des situations dynamiques. Cette approche ne considère pas seulement la qualité d'un seul plan, mais le comportement du robot qui est parfois le résultat de replanifications répétées au cours d'une interaction. Pour ce qui concerne les tâches de navigation, cette thèse présente des fonctions de coûts directionnels qui évitent les problèmes dans des situations de conflit. Pour la planification d'action en général, cette thèse propose une approche de replanification locale des actions de transport basé sur les coûts de navigation, pour élaborer un comportement opportuniste adaptatif. Les deux approches, complémentaires, facilitent la compréhension, par les acteurs et observateurs humains, des intentions du robot et permettent de réduire leur confusion.The recent advances in robotics inspire visions of household and service robots making our lives easier and more comfortable. Such robots will be able to perform several object manipulation tasks required for household chores, autonomously or in cooperation with humans. In that role of human companion, the robot has to satisfy many additional requirements compared to well established fields of industrial robotics. The purpose of planning for robots is to achieve robot behavior that is goal-directed and establishes correct results. But in human-robot-interaction, robot behavior cannot merely be judged in terms of correct results, but must be agree-able to human stakeholders. This means that the robot behavior must suffice additional quality criteria. It must be safe, comfortable to human, and intuitively be understood. There are established practices to ensure safety and provide comfort by keeping sufficient distances between the robot and nearby persons. However providing behavior that is intuitively understood remains a challenge. This challenge greatly increases in cases of dynamic human-robot interactions, where the actions of the human in the future are unpredictable, and the robot needs to constantly adapt its plans to changes. This thesis provides novel approaches to improve the legibility of robot behavior in such dynamic situations. Key to that approach is not to merely consider the quality of a single plan, but the behavior of the robot as a result of replanning multiple times during an interaction. For navigation planning, this thesis introduces directional cost functions that avoid problems in conflict situations. For action planning, this thesis provides the approach of local replanning of transport actions based on navigational costs, to provide opportunistic behavior. Both measures help human observers understand the robot's beliefs and intentions during interactions and reduce confusion

Model checking security protocols : a multiagent system approach

Security protocols specify the communication required to achieve security objectives, e.g., data-privacy. Such protocols are used in electronic media: e-commerce, e-banking, e-voting, etc. Formal verification is used to discover protocol-design flaws. In this thesis, we use a multiagent systems approach built on temporal-epistemic logic to model and analyse a bounded number of concurrent sessions of authentication and key-establishment protocols executing in a Dolev-Yao environment. We increase the expressiveness of classical, trace-based frameworks by mapping each protocol requirement into a hierarchy of temporal-epistemic formulae. To automate our methodology, we design and implement a tool called PD2IS. From a high-level protocol description, PD2IS produces our protocol model and the temporal-epistemic specifications of the protocol’s goals. This output is verified with the model checker MCMAS. We benchmark our methodology on various protocols drawn from standard repositories. We extend our approach to formalise protocols described by equations of cryptographic primitives. The core of this extension is an indistinguishability relation to accommodate the underlying protocol equations. Based on this relation, we introduce a knowledge modality and an algorithm to model check multiagent systems against it. These techniques are applied to verify e-voting protocols. Furthermore, we develop our methodology towards intrusion-detection techniques. We introduce the concept of detectability, i.e., the ability of protocol participants to detect jointly that the protocol is being attacked. We extend our formalisms and PD2IS to support detectability analysis. We model check several attack-prone protocols against their detectability specifications

Model Checking Security Protocols: A Multiagent System Approach

Security protocols specify the communication required to achieve security objectives, e.g., data-privacy. Such protocols are used in electronic media: e-commerce, e-banking, e-voting, etc. Formal verification is used to discover protocol-design flaws. In this thesis, we use a multiagent systems approach built on temporal-epistemic logic to model and analyse a bounded number of concurrent sessions of authentication and key-establishment protocols executing in a Dolev-Yao environment. We increase the expressiveness of classical, trace-based frameworks by mapping each protocol requirement into a hierarchy of temporal-epistemic formulae. To automate our methodology, we design and implement a tool called PD2IS. From a high-level protocol description, PD2IS produces our protocol model and the temporal-epistemic specifications of the protocol’s goals. This output is verified with the model checker MCMAS. We benchmark our methodology on various protocols drawn from standard repositories. We extend our approach to formalise protocols described by equations of cryptographic primitives. The core of this extension is an indistinguishability relation to accommodate the underlying protocol equations. Based on this relation, we introduce a knowledge modality and an algorithm to model check multiagent systems against it. These techniques are applied to verify e-voting protocols. Furthermore, we develop our methodology towards intrusion-detection techniques. We introduce the concept of detectability, i.e., the ability of protocol participants to detect jointly that the protocol is being attacked. We extend our formalisms and PD2IS to support detectability analysis. We model check several attack-prone protocols against their detectability specifications