Toward human-aware robot task planning

Abstract

Human-robot interaction requires explicit reasoning on human environment and on robot capacities to achieve its tasks in a collaborative way with a human partner. We have devised a decisional framework for human-robot interactive task achievement that is aimed to al-low the robot not only to accomplish its tasks but also to produce behaviors that support its engagement vis-a-vis its human partner and to interpret human behaviors and intentions. Together and in coherence with this framework, we in-tend to develop and experiment various task planners and interaction schemes that will allow the robot to se-lect and perform its tasks while taking into account ex-plicitly the human abilities as well as the constraints im-posed by the presence of humans, their needs and pref-erences. We present the first results obtained by our “human-aware ” task and motion planners and discuss how they can be extended.