A Framework For Human-Aware Robot Planning

Authors:
Marcello Cirillo;Lars Karlsson;Alessandro Saffiotti
Affiliations:
AASS Mobile Robotics Lab, Örebro University, Sweden;AASS Mobile Robotics Lab, Örebro University, Sweden;AASS Mobile Robotics Lab, Örebro University, Sweden
Venue:
Proceedings of the 2008 conference on Tenth Scandinavian Conference on Artificial Intelligence: SCAI 2008
Year:
2008

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Abstract

Robots that share their workspace with humans, 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 in which we consider three kinds of human-robot interaction. We focus in particular on the core module of the framework, a human-aware planner that generates a sequence of actions for a robot, taking into account the status of the environment, the goals of the robot and the forecasted plan of the human. We present a first realization of this planner, together with two simple experiments that demonstrate the feasibility of our approach.