Toward Human-Aware Robot Task Planning

Abstract

Human-robot interaction requires explicit reasoning on human environment and on robot capacities to achieve its tasks in a collaborative way with a human partner. We have devised a decisional framework for human-robot interactive task achievement that is aimed to al-low the robot not only to accomplish its tasks but also to produce behaviors that support its engagement vis-a-vis its human partner and to interpret human behaviors and intentions. Together and in coherence with this framework, we in-tend to develop and experiment various task planners and interaction schemes that will allow the robot to se-lect and perform its tasks while taking into account ex-plicitly the human abilities as well as the constraints im-posed by the presence of humans, their needs and pref-erences. We present the first results obtained by our “human-aware ” task and motion planners and discuss how they can be extended.

Cite this work

No public copy is stored for this record, so only the metadata is cited.

Stored only when both papers are in the corpus — 58 citations exist upstream.

Papers that cite the same references — the relational fallback while embeddings are still backfilling.