Presentation at ICSE-NIER 2022

1. What Do You Want From Me?
Adapting Systems to the
Uncertainty of Human
Preferences
Carlos Gavidia-Calderon,
Anastasia Kordoni,
Amel Bennaceur,
Mark Levine,
and Bashar Nuseibeh
ICSE NIER - New Ideas and Emerging Results, 2022

2. Kress-Gazit et al. (“Formalizing and guaranteeinghuman-
robot interaction”, CACM2021)
“Social collaboration
typically requires the
agents involved to
maintain a theory of
mind about their
partners, identifying
what each agent
believes, desires, and
aims to achieve.”
British Airways - https://mediacentre.britishairways.com/pressrelease/details/86/0/11921

3. Kitano and Tadokoro (“RoboCupRescue: a grand
challenge formulti-agent systems”, 2000)
“The lesson that we learned
from the Kobe, Turkey, and
Taiwan earthquakes was
the serious need for a
robust, dynamic, intelligent
planning system for search-
and-rescue operations and
for powerful human-
machine systems, including
robots ...”
Mike1024 - https://commons.wikimedia.org/wiki/File:RoboCup_Rescue_robot_Hector_from_Darmstadt_at_2010_German_open.jpg

4. Andreas Birk and Stefano Carping (“Rescue robotics — a crucial milestone on the road to autonomous systems, 2006)
”There is a high pressure for autonomy in the rescue robotics domain
due to the fact that human rescue workers are a scarce resource in
disaster scenarios.”
Mariana Bazo - https://www.theatlantic.com/photo/2017/03/peru-suffers-worst-flooding-in-decades/520146/

5. Mark Levine and Rachel Manning (“Social identity, group processes, and helping in emergencies”, 2013)
”When social identity is salient then the presence of
others does not lead to an inhibition of helping, but rather
to feelings of social solidarity and social support.”
Mariana Bazo - https://www.theatlantic.com/photo/2017/03/peru-suffers-worst-flooding-in-decades/520146/

6. John Drury et al. (“Everyone for themselves? A comparative
study of crowd solidarity among emergencysurvivors”, 2009)
”A minority of
survivors explicitly
described a lack
of unity they felt
with, and
observed among,
others within the
event.”
Ernesto
Benavides
-
https://www.theguardian.com/global-development-professionals-network/2017/apr/13/peru-prevent-floods-landslides-climate-change

7. Roger Myerson. 2007 Nobel Memorial Prize in
Economic Sciences)
“Game theory can be
defined as the study
of mathematical
models of conflict and
cooperation between
intelligent rational
decision-makers.”
Livre des Echecs- https://commons.wikimedia.org/wiki/File:KnightsTemplarPlayingChess1283.jpg

8. Extract from “Game Theory for Applied Economists” by R.
Gibbons (1992)
”In a game of incomplete
information ... at least one
player is uncertain about
another player’s payoff
function. One common
example ... is a sealed-bid
auction: each bidder knows
his or her own valuation for
the good being sold but
does not know any other
bidder’s valuation”
British Airways - https://mediacentre.britishairways.com/pressrelease/details/86/0/11921
Thomas Rowlandson et al.- https://commons.wikimedia.org/wiki/File:Microcosm_of_London_Plate_006_-_Auction_Room,_Christie%27s.jpg

9. A Search-and-Rescue Scenario
The SAR robot needs help to evacuate victims. Either from other survivors, or first-responders.

10. A Bayesian Game Model for Assisted Evacuation
The robot locates a survivor and a victim. It can guide them or request first-responder support.

11. Adaptive Architecture for the Search-And-Rescue Robot
The SAR robot decides to offer navigation or call first-responders, based on the survivor's identity markers.

12. Evaluation Methodology
We generate synthetic identity markers
and evaluate the expected number of
successful evacuations on three
configurations:
1. The adaptive search-and-rescue
robot.
2. A proself-oriented robot.
3. A prosocial-oriented robot.

13. Evaluation Results
Average expected evacuations, over 30 scenarios with 33 interactions.