Plan Execution and Attentional Regulations for Flexible Human-Robot Interaction

Abstract

Flexible execution of structured tasks is a relevant issue in cognitive robotics and human-robot interaction. In this work, we address this problem presenting a framework that integrates planning and attentional regulations for flexible and interactive execution of human-robot cooperative tasks. In the proposed approach, attentional top-down and bottom-up mechanisms are deployed to guide the execution of generated hierarchical plans while managing conflicts and decisional impasses. We provide an overview of the proposed framework discussing the system at work in different scenarios. In particular, we focus on flexible execution of multiple plans and interactive plan execution guided by attentional manipulation.