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Human-aware task planning for mobile robots
Örebro universitet, Akademin för naturvetenskap och teknik. (AASS)
Örebro universitet, Akademin för naturvetenskap och teknik. (AASS)ORCID-id: 0000-0002-0458-2146
Örebro universitet, Akademin för naturvetenskap och teknik. (AASS)ORCID-id: 0000-0001-8229-1363
2009 (engelsk)Inngår i: Proceedings of the 5th international conference on advanced robotics, ICAR 2009, New York: IEEE conference proceedings, 2009, s. 172-178Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Robots that share their workspace with people, like household or service robots, need to take into account the presence of humans when planning their actions. In this paper, we present a framework for human-aware planning that would make the robots capable of performing their tasks without interfering with the user in his every day life. We focus in particular on the core module of the framework, a humanaware planner that generates a sequence of actions for a robot, taking into account the state of the environment and the goals of the robot, together with a set of forecasted possible plans of the human. We describe the planner and its relations to other system components like a plan recognizer, and present a series of experiments performed with a household robot in a small apartment.

sted, utgiver, år, opplag, sider
New York: IEEE conference proceedings, 2009. s. 172-178
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URN: urn:nbn:se:oru:diva-7844ISI: 000270815500028Scopus ID: 2-s2.0-70449331645ISBN: 978-1-4244-4855-5 (tryckt)OAI: oai:DiVA.org:oru-7844DiVA, id: diva2:234424
Konferanse
International Conference on Advanced Robotics, ICAR 2009, 22-26 June, Munic
Tilgjengelig fra: 2009-09-08 Laget: 2009-09-08 Sist oppdatert: 2018-01-13bibliografisk kontrollert

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Cirillo, MarcelloKarlsson, LarsSaffiotti, Alessandro

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