## 5 Robot Decision-Making and Task Planning
### POMDP Decision-Making
\begin{table}
\begin{tabular}{p{108.4 pt} p{108.4 pt} p{108.4 pt}} \hline \hline
**State S[Hi, Mi, Li]** & **Robot Action (Ai)** & **Observation (\(\Omega_{i}\))** \\ \hline S[L-1] & A[Perc1]: Robot looks for the user & \(\Omega\)[Perc1\_\_\&1]: Robot successfully detected the user & \\  & & \(\Omega\)[Perc1\_\_\&2]: Robot failed to detect the user & \\ \hline S[H-1] & A[Act1]: Robot navigates close to the user & \(\Omega\)[Act1\_\&1]: Robot successfully navigated towards the user & \\  & & \(\Omega\)[Act1\_\_\&2]: Robot failed to navigate successfully & \\ \hline S[M-1] & A[Com1]: Robot reminds the user about the medication & \(\Omega\)[Com1\_\_\&2]: Users has already taken the medication & \\  & & \(\Omega\)[Com1\_\_\&2]: Users has not taken the medication & \\ \hline S[H-2] & A[Act2]: Robot navigates to the shelf & \(\Omega\)[Act2\_\&1]: Robot navigated and park successfully wrt the shelf & \\  & & \(\Omega\)[Act2\_\&1]: Robot failed to navigate and park with the shelf & \\ \hline S[L-2] & A[Perc2]: Robot detects the pill box & \(\Omega\)[Perc2\_\&2]: Robot detected the pill box and inferred a grasp pose & \\  & & \(\Omega\)[Perc2\_\&2]: Robot failed to detect the pill box or has not found a graspable pose & \\ \hline S[H-3] & A[Act3]: Robot grasps the pill box & \(\Omega\)[Act3\_\&1]: Robot grasped the pill box successfully & \\  & & \(\Omega\)[Act3\_\&1]: Robot failed to grasp the pill box successfully & \\ \hline S[H-4] & A[Act4]: Robot navigates towards the table & \(\Omega\)[Act4\_\&1]: Robot navigated towards the table successfully & \\  & & \(\Omega\)[Act4\_\&2]: Robot failed to navigate towards the table successfully & \\ \hline S[H-5] & A[Act5]: Robot releases the pillbox to the table & \(\Omega\)[Act5\_\&1]: Robot released the pill box to the table correctly & \\  & & \(\Omega\)[Act5\_\&1]: Robot failed to release the pill box to the table & \\ \hline S[M-2] & A[Com2]: robot requests from the user to take the medication & \(\Omega\)[Com2\_\&2]: The user accepted to take the medication after robot notification & \\  & & \(\Omega\)[Com2\_\&2]: User notified that s/he will not need any further assistance and dismissed the robot & \\ \hline S[L-3] & A[Perc3]: Robot recognizes the medication adherence activity & \(\Omega\)[Perc3\_\&1]: Robot detected medication intake activity & \\  & & \(\Omega\)[Perc3\_\&1]: Robot failed to detect the medication intake activity & \\ \hline S[M-3] & A[Dial1]: Robot informs external through com. Chnl. & \(\Omega\)[Dial1\_\&1]: Robot established communication with a relative and reported the situation & \\  & & \(\Omega\)[Dial1\_\&1]: Robot failed to establish external communication & \\ \hline S[H-6] & A[Act6]: Robot grasps the pill box from the table & \(\Omega\)[Act6\_\&1]: Robot grasped the pill box from the table & \\  & & \(\Omega\)[Act7\_\&1]: Robot released the pill box to the shell successfully & \\ \hline S[H-7] & A[Act7]: Robot releases the pillbox at the shelf & \(\Omega\)[Act7\_\&1]: Robot failed to release the pill box to the shelf & \\ \hline S[L-0] & A[Monitor]: Robot navigates to parking position and performs monitoring & \(\Omega\)[Monitor\_\&2]: The medication intake scenario has been triggered & \\  & & \(\Omega\)[SysRes\_\&1]: Robot passes the ROS & \\ S[H-0] & A[SysRes]: Task re-initialized due to internal error & \(\Omega\)[SysRes\_\&2]: Robot passes the ROS diagnostics and if not possible returns to S[L-0] & \\ \hline \hline \end{tabular}
\end{table} 
Table 1: The table interprets the states, actions and observations outlined in Figure 12.