On Planning and Task Achievement Modalities for Human-Robot Collaboration

In this paper we present a robot supervision system designed to be able to execute collaborative tasks with humans in a flexible and robust way. Our system is designed to take into account the different preferences of the human partners, providing three operation modalities to interact with them. The robot is able to assume a leader role, planning and monitoring the execution of the task for itself and the human, to act as assistent of the human partner, following his orders, and also to adapt its plans to the human actions. We present several experiments that show that the robot can execute collaborative tasks with humans.

[1]  Rachid Alami,et al.  Supervision and motion planning for a mobile manipulator interacting with humans , 2008, 2008 3rd ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[2]  C. Mantzavinos,et al.  Philosophy of the Social Sciences: Philosophical Theory and Scientific Practice , 2009 .

[3]  Dana S. Nau,et al.  SHOP2: An HTN Planning System , 2003, J. Artif. Intell. Res..

[4]  Rachid Alami,et al.  When the robot puts itself in your shoes. Managing and exploiting human and robot beliefs , 2012, 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication.

[5]  Takayuki Kanda,et al.  It's not polite to point Generating socially-appropriate deictic behaviors towards people , 2013, 2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[6]  Rachid Alami,et al.  A framework for endowing an interactive robot with reasoning capabilities about perspective-taking and belief management , 2014, The 23rd IEEE International Symposium on Robot and Human Interactive Communication.

[7]  J. Gregory Trafton,et al.  ACT-R/E , 2013, HRI 2013.

[8]  Laurent Jeanpierre,et al.  Human-robot collaboration for a shared mission , 2010, 2010 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[9]  Rachid Alami,et al.  SHARY: A Supervision System Adapted to Human-Robot Interaction , 2008, ISER.

[10]  Stefanos Nikolaidis,et al.  Human-robot cross-training: Computational formulation, modeling and evaluation of a human team training strategy , 2013, 2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[11]  Dieter Fox,et al.  Following directions using statistical machine translation , 2010, HRI 2010.

[12]  Marjorie Skubic,et al.  Spatial language for human-robot dialogs , 2004, IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews).

[13]  Rachid Alami,et al.  Planning human-aware motions using a sampling-based costmap planner , 2011, 2011 IEEE International Conference on Robotics and Automation.

[14]  H. Bekkering,et al.  Joint action: bodies and minds moving together , 2006, Trends in Cognitive Sciences.

[15]  J. Gregory Trafton,et al.  Enabling effective human-robot interaction using perspective-taking in robots , 2005, IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans.

[16]  Yiannis Demiris,et al.  Hierarchical attentive multiple models for execution and recognition of actions , 2006, Robotics Auton. Syst..

[17]  Rachid Alami,et al.  HATP: An HTN Planner for Robotics , 2014, ArXiv.

[18]  Terrence Fong,et al.  The human-robot interaction operating system , 2006, HRI '06.

[19]  Rachid Alami,et al.  Anchoring interaction through symbolic knowledge , 2011, HRI 2011.

[20]  Alessandro Saffiotti,et al.  A Framework For Human-Aware Robot Planning , 2008, SCAI.

[21]  Hema Swetha Koppula,et al.  Anticipating Human Activities Using Object Affordances for Reactive Robotic Response , 2013, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[22]  Cynthia Breazeal,et al.  Action parsing and goal inference using self as simulator , 2005, ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005..

[23]  Bilge Mutlu,et al.  Coordination Mechanisms in Human-Robot Collaboration , 2013 .

[24]  Paul U. Lee,et al.  Why do speakers mix perspectives? , 1999, Spatial Cogn. Comput..

[25]  Stefanie Tellex,et al.  Toward understanding natural language directions , 2010, HRI 2010.

[26]  Michael E. Bratman.  Philosophy of the Social Sciences: Shared Agency , 2009 .

[27]  Cynthia Breazeal,et al.  Improved human-robot team performance using Chaski, A human-inspired plan execution system , 2011, 2011 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[28]  Rachid Alami,et al.  Which one? Grounding the referent based on efficient human-robot interaction , 2010, 19th International Symposium in Robot and Human Interactive Communication.

[29]  R. Alami,et al.  Mightability maps: A perceptual level decisional framework for co-operative and competitive human-robot interaction , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[30]  J. Flavell.  Perspectives on perspective taking. , 1992 .

[31]  Susan R. Fussell,et al.  How a robot should give advice , 2013, 2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI).