Sisbot, E. Akin; Clodic, Aurélie; Alami, Rachid; Ransan, Maxime 3rd ACM/IEEE International Conference on Human-Robot Interaction (HRI 2008)
Human Robot collaborative task achievement requires adap- ted tools and algorithms for both decision making and mo- tion computation. The human presence as well as its be- havior must be considered and actively monitored at the decisional level for the robot to produce synchronized and adapted behavior. Additionally, having a human within the robot range of action introduces security constraints as well as comfort considerations which must be taken into ac- count at the motion planning and control level. This pa- per presents a robotic architecture adapted to human robot interaction and focuses on two tools: a human aware ma- nipulation planner and a supervision system dedicated to collaborative task achievement.
full pdf fileMontreuil, Vincent; Clodic, Aurelie; Ransan, Maxime; Alami, Rachid. ISIC. IEEE International Conference on Systems, Man and Cybernetics, 2007.
This paper addresses high-level robot planning issues for an interactive cognitive robot that has to act in presence or in collaboration with a human partner. We describe a task planner called HATP (for Human Aware Task Planner). HATP is especially designed to handle a set of human-centered constraints in order to provide Òsocially acceptableÓ plans that are oriented toward collaborative task achievement. We provide an overall description of HATP and discuss its main structure and algorithmic features.
full pdf fileClodic, Aurelie and Ransan, Maxime and Alami, Rachid and Montreuil, Vincent. IEEE International Conference on System, Man, and Cybernetics (SMC 2007)
Human-robot collaborative task achievement re- quires the robot to reason not only about its current beliefs but also about the ones of its human partner. In this paper, we introduces a framework to manage shared knowledge for a control should occur from the agent to other entities. In robotic system. In a first part, we define which beliefs should be taken into account ; we then explain a manner to achieve them using communication schemes. Several examples are presented to illustrate the purpose of beliefs management including a real experiment demonstrating a 'give object' task between the Jido robotic platform and a human.
full pdf fileClodic, Aurelie; Alami, Rachid; Montreuil, Vincent; Li, Shuyin; Wrede, Britta; Swadzba, Agnes; The 16th IEEE International Symposium on Robot and Human interactive Communication, 2007. RO-MAN 2007.
Human-robot collaboration requires both communicative and decision making skills of a robot. To enable flexible coordination and turn-taking between human users and a robot in joint tasks, the robot's dialog and decision making mechanism have to be synchronized in a meaningful way. In this paper, we propose a integration framework to combine the dialog and the decision making processes. With this framework, we investigate various task negotiation situations for a social robot in a fetch-and-carry scenario. For the technical realization of the framework, the interface specification between the dialog and the decision making systems is also presented. Further, we discuss several challenging issues identified in our integration effort that should be adddressed in the future. full pdf file
Emrah Akin Sisbot, Luis F. Marin-Urias, Rachid Alami and Thierry Simeon, IEEE Transactions on Robotics, Volume: 23, Issue: 5, pp: 874-883, October, 2007.
T. Germa, L. Brèthes, F. Lerasle, T. Simon., Int. Conf. on Vision Systems (ICVS'07). March, 2007. Bielefeld, Deutschland.
T. Germa, F.Lerasle, P.Danes, L.Brethes.,. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROSÕ07, San Diego, California, USA, November 2007.
B. Burger and I. Ferrane and F. Lerasle Int. Conf. on Computer Vision Systems ICVS'08