A. Clodic, S. Fleury, R. Alami, R. Chatila, G. Bailly, L. Brethes, M. Cottret, P. Danes, X. Dollat, F. Elisei, I. Ferrané, M. Herrb, G. Infantes, C. Lemaire, F. Lerasle , J. Manhes, P. Marcoul, P. Menezes, V. Montreuil. 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN'2006), Hatfield (GB), September 2006, pp.502-509.
Rackham is an interactive robot-guide that has been used in several places and exhibitions. This paper presents its design and reports on results that have been obtained after its deployment in a permanent exhibition. The project is conducted so as to incrementally enhance the robot functional and decisional capabilities based on the observation of the interaction between the public and the robot. Besides robustness and efficiency in the robot navigation abilities in a dynamic environment, our focus was to develop and test a methodology to integrate human-robot interaction abilities in a systematic way. We first present the robot and some of its key design issues. Then, we discuss a number of lessons that we have drawn from its use in interaction with the public and how that will serve to refine our design choices and to enhance robot efficiency and acceptability
A. Clodic, S. Fleury, R. Alami, M. Herrb, R. Chatila. 12th International Conference on Advanced Robotics, ICAR05, Seattle, USA, 2005.
This paper presents the design and the implemen- tation of a new tour-guide robot and reports on the first results that have been obtained after its deployment in a permanent exhibition. The project is conducted so as to incrementally enhance the robot functional and decisional capabilities based on the observation of the interaction between the public and the robot. Besides robustness and efficiency in the robot basic nav- igational abilities in a dynamic environment, our focus was to develop and test a methodology to integrate human-robot interaction abilities in a systematic way. We first present the robot and some of its key design issues. Then, we discuss a number of lessons that we have drawn from its use in interaction with the public and how that will serve to refine our design choices and to enhance the robot efficiency and acceptability.
R. Alami, A. Clodic, V. Montreuil, E. A. Sisbot, and R. Chatila. The Smart Objects and Ambient Intelligence Conference, sOc-EuSAI 05, Grenoble, France, 2005.
Human-robot interaction requires explicit reasoning on the human environment and on the robot capacities to achieve its tasks in a collaborative way with a human partner. This paper focuses on organization of the robot decisional abilities and more particularly on the management of human interaction as an integral part of the robot control architecture. Such an architecture should be the framework that will allow the robot to accomplish its tasks but also produce behaviors that support its engagement vis-a-vis its human partner and interpret similar behaviors from him. Together and in coherence with this framework, we intend to develop and experiment various task planners and interaction schemes that will allow the robot to select and perform its tasks while taking into account explicitly the constraints imposed by the presence if humans, their needs and preferences. We have considered a scheme where the robot plans for itself and for the human in order not only (1) to assess the feasibility of the task (at a certain level) before performing it, but also (2) to share the load between the robot and the human and (3) to explain/illustrate a possible course of action.
A. Clodic, V. Montreuil, R.Alami, R. Chatila. IEEE International Workshop on Robot and Human Interactive Communication, ROMAN05, 2005.
The presence of humans in its environment and the necessity to interact with them raise new challenges to the robot. Indeed, they require explicit reasoning on the human environment and on the robot capacities to achieve its tasks in a collaborative way with a human partner. This paper focuses on architectural aspects and more particularly on the organization of the robot decisional abilities for interacting with people. Indeed, our objective is to develop a management of human interaction that will be an integral part of a general robot control architecture. This should hopefully allow to come up with a principled way to deal with human-robot interaction for robot task achievement in presence of humans or in synergy with humans. Such an architecture should be the framework that will allow the robot to produce behaviors to accomplish its tasks but also produce behaviors that support its engagement vis-a-vis its human partner and interpret similar behaviors from him. We also intend to use the proposed approach as a framework in which we will develop and experiment various task planners and interaction schemes. Indeed, the robot should be able, for instance, to devise plans that allow it to execute its actions and to place itself to be seen by or to observe humans, according to the task.