oru.sePublikationer
Change search
CiteExportLink to record
Permanent link

Direct link
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
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Human-aware planning for robots embedded in ambient ecologies
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems ( AASS ))
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems ( AASS ))ORCID iD: 0000-0002-0458-2146
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems ( AASS ))ORCID iD: 0000-0001-8229-1363
2012 (English)In: Pervasive and Mobile Computing, ISSN 1574-1192, E-ISSN 1873-1589, Vol. 8, no 4, 542-561 p.Article in journal (Refereed) Published
Abstract [en]

We address the issue of human-robot cohabitation in smart environments. In particular, the presence of humans in a robot's work space has a profound influence on how the latter should plan its actions. We propose the use of Human-Aware Planning, an approach in which the robot exploits the capabilities of a sensor-rich environment to obtain information about the (current and future) activities of the people in the environment, and plans its tasks accordingly.

Here, we formally describe the planning problem behind our approach, we analyze its complexity and we detail the algorithm of our planner. We then show two application scenarios that could benefit from the techniques described. The first scenario illustrates the applicability of human-aware planning in a domestic setting, while the second one illustrates its use for a robotic helper in a hospital. Finally, we present a five hour-long test run in a smart home equipped with real sensors, where a cleaning robot has been deployed and where a human subject is acting. This test run in a real setting is meant to demonstrate the feasibility of our approach to human-robot interaction.

Place, publisher, year, edition, pages
Elsevier, 2012. Vol. 8, no 4, 542-561 p.
Keyword [en]
Human-aware planning, Planning under uncertainty, Human-robot interaction, Planning in intelligent environments
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-22785DOI: 10.1016/j.pmcj.2011.11.004ISI: 000306646200005Scopus ID: 2-s2.0-84864287340OAI: oai:DiVA.org:oru-22785DiVA: diva2:525891
Funder
Knowledge Foundation
Note

Funding Agency;

CUGS (Swedish national computer science graduate school) 

Available from: 2012-05-09 Created: 2012-05-09 Last updated: 2017-12-07Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Authority records BETA

Cirillo, MarcelloKarlsson, LarsSaffiotti, Alessandro

Search in DiVA

By author/editor
Cirillo, MarcelloKarlsson, LarsSaffiotti, Alessandro
By organisation
School of Science and Technology
In the same journal
Pervasive and Mobile Computing
Computer Science

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 315 hits
CiteExportLink to record
Permanent link

Direct link
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
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf