Marcello Cirillo, Lars Karlsson and Alessandro Saffiotti
Human-Aware Task Planning for Mobile Robots
Proc. 2009 International Conference on Advanced Robotics (ICAR)
Abstract: 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 human aware 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.
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@INPROCEEDINGS{Cirillo_etal:ICARS:2009,
  AUTHOR = {Cirillo, Marcello and Karlsson, Lars and Saffiotti, Alessandro},
  TITLE = {Human-Aware Task Planning for Mobile Robots},
  BOOKTITLE = {Proceedings of the International Conference on Advanced Robotics (ICAR)},
  YEAR = {2009},
  ADRESS = {Munich, Germany},
  PAGES = {}
}