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Human-aware task planning: an application to mobile robots
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-0458-2146
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0001-8229-1363
2010 (English)In: ACM transactions on intelligent systems and technology, ISSN 2157-6904, Vol. 1, no 2, Article 15- p.Article in journal (Refereed) Published
Abstract [en]

Consider a house cleaning robot planning its activities for the day. Assume that the robot expects the human inhabitant to first dress, then have breakfast, and finally go out. Then, it should plan not to clean the bedroom while the human is dressing, and to clean the kitchen after the human has had breakfast. In general, robots operating in inhabited environments, like households and future factory floors, should plan their behavior taking into account the actions that will be performed by the humans sharing the same environment. This would improve human-robot cohabitation, for example, by avoiding undesired situations for the human. Unfortunately, current task planners only consider the robot's actions and unexpected external events in the planning process, and cannot accommodate expectations about the actions of the humans.

In this article, we present a human-aware planner able to address this problem. Our planner supports alternative hypotheses of the human plan, temporal duration for the actions of both the robot and the human, constraints on the interaction between robot and human, partial goal achievement and, most importantly, the possibility to use observations of human actions in the policy generated for the robot. Our planner has been tested both as a stand-alone component and within a full framework for human-robot interaction in a real environment.

Place, publisher, year, edition, pages
ACM Press, 2010. Vol. 1, no 2, Article 15- p.
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-14491DOI: 10.1145/1869397.1869404ISI: 000208614200007Scopus ID: 2-s2.0-79955060590OAI: oai:DiVA.org:oru-14491DiVA: diva2:395590
Available from: 2011-02-07 Created: 2011-02-07 Last updated: 2017-10-02Bibliographically approved

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Cirillo, MarcelloKarlsson, LarsSaffiotti, Alessandro
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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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Output format
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