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Conference Papers Year : 2022

JAHRVIS, a Supervision System for Human-Robot Collaboration

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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Dates and versions

hal-03702389 , version 1 (23-06-2022)

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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. ⟨10.1109/RO-MAN53752.2022.9900665⟩. ⟨hal-03702389⟩
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