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JAHRVIS, a Supervision System for Human-Robot Collaboration

Amandine Mayima 1 Aurélie Clodic 2 Rachid Alami 1 
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
2 LAAS-IDEA - Service Informatique : Développement, Exploitation et Assistance
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : The supervision component is the binder of a robotic architecture. Without it, there is no task, no interaction happening, it conducts the other components of the architecture towards the achievement of a goal, which means, in the context of a collaboration with a human, to bring changes in the physical environment and to update the human partner mental state. However, not so much work focus on this component in charge of the robot decision-making and control, whereas this is the robot puppeteer. Most often, either tasks are simply scripted, or the supervisor is built for a specific task. Thus, we propose JAHRVIS, a Joint Action-based Human-aware supeRVISor. It aims at being task-independent while implementing a set of key joint action and collaboration mechanisms. With this contribution, we intend to move the deployment of autonomous collaborative robots forward, accompanying this paper with our open-source code.
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https://hal.laas.fr/hal-03702389
Contributor : Amandine Mayima Connect in order to contact the contributor
Submitted on : Thursday, June 23, 2022 - 9:45:05 AM
Last modification on : Monday, July 4, 2022 - 10:29:58 AM

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  • HAL Id : hal-03702389, version 1

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Amandine Mayima, Aurélie Clodic, Rachid Alami. JAHRVIS, a Supervision System for Human-Robot Collaboration. 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2022), Aug 2022, Napoli, Italy. ⟨hal-03702389⟩

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