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Dealing with On-Line Human-Robot Negotiations in Hierarchical Agent-Based Task Planner

Abstract : Collaboration between humans and robots to accomplish dif- ferent kinds of tasks has been recently studied as a planning problem and several techniques have been developed to define and generate shared plans where humans and robots collaborate to achieve a common goal. However, current methods require the knowledge of the human about the plan under execution and an agreement between users and robots about their roles before the execution of the plan. In this paper, we propose an extension to the Hierarchical Agent-based Task Planner (HATP) that enables humans and robots to negotiate some aspects of the collaboration online during the execution of the plan. The proposed method is based on the automatic generation of a conditional plan in which missing information is acquired at execution time by means of sensing actions. The proposed method has been fully implemented and tested on a real robot performing collaborative tasks in an office-like environment.
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https://hal.laas.fr/hal-01947890
Contributor : Aurélie Clodic <>
Submitted on : Monday, January 14, 2019 - 5:03:15 PM
Last modification on : Friday, January 10, 2020 - 9:10:16 PM

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  • HAL Id : hal-01947890, version 1

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Eugenio Sebastiani, Raphaël Lallement, Rachid Alami, Luca Iocchi. Dealing with On-Line Human-Robot Negotiations in Hierarchical Agent-Based Task Planner. 27th International Conference on Automated Planning and Scheduling (ICAPS 2017), Jun 2017, Pittsburgh, United States. ⟨hal-01947890⟩

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