A Logical Hierarchical Hidden Semi-Markov Model for Team Intention Recognition

Pseudocode 1

Pseudocode of sampling a particle in the LHHSMM.

%%Sampling intentions and duration

If

 ,

Else

 If = Start

  Sample from by

 Else

  Sample from by

 End

 Instantiate to using

 Sample from

End

%%Sampling policies

From to

 If ,

 else

  If

   Sample from by ,

  Else

   Sample from by

  End

   Instantiate to using .

 End

%%Sampling primitive actions

Sample from by

Instantiate by

%%Sampling the world state

Sampling by

%%Sampling termination variables

If

Else

 Sample from

End

From to

 If

 Else

  Sample from

 End