Skip to Main content Skip to Navigation
Conference papers

Planning and Plan-execution for Human-Robot Cooperative Task achievement

Samir Alili 1 Matthieu Warnier 1 Muhammad Ali 1 Rachid Alami 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : Human Robot cooperation brings several challenges to autonomous robotics such as adoption of a pro-active behavior, situation analysis and goal generation, intention explanation and adaptation and choice of a correct behavior toward the human. In this paper, we describe a decisional architecture for human robot interaction which addresses some of these challenges. The description will be centered on a planner called HATP (Human Aware Task Planner) and its capacity to synthesize plans for human robot teamwork that respect social conventions and that favour acceptable collaborative behaviors. We provide an overall description of HATP and its integration in a complete implemented architecture. We also illustrate the performance of our system on a daily life scenario achieved by a robot in interaction with a human partner in a realistic setup.
Complete list of metadatas

Cited literature [19 references]  Display  Hide  Download
Contributor : Rachid Alami <>
Submitted on : Thursday, January 17, 2019 - 7:08:49 PM
Last modification on : Friday, January 10, 2020 - 9:10:16 PM
Long-term archiving on: : Thursday, April 18, 2019 - 12:37:45 PM


Files produced by the author(s)


  • HAL Id : hal-01979172, version 1


Samir Alili, Matthieu Warnier, Muhammad Ali, Rachid Alami. Planning and Plan-execution for Human-Robot Cooperative Task achievement. 19th international conference on automated planning and scheduling (ICAPS), Sep 2009, Thessaloniki, Greece. ⟨hal-01979172⟩



Record views


Files downloads