Geometric Tools for Perspective Taking for HumanRobot Interaction

Abstract

Psychological studies on human interactions made surface the notion Perspective Taking. This notion, referring to reason on other persons' points of view, eases the communication between interacting individuals. For a robot interacting with people, we believe that Perspective Taking can play an important role that will allow the robot to understand , reason and act according to human's point of view thus allowing an efficient communication and cooperation. In this paper, we propose a group of algorithms to evaluate and generate robot configurations that are not only collision free but also obeying HRI constraints by reasoning explicitly on human's perspective.