Geometric reasoning planning in the context of Human-Robot Interaction

Mamoun Gharbi 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : In the last few years, the Human robot interaction (HRI) field has been in the spotlight of the robotics community. One aspect of this field is making robots act in the presence of humans, while keeping them safe and comfortable. In order to achieve this, a robot needs to plan its actions while explicitly taking into account the humans and adapt its plans to their whereabouts, capacities and preferences. The first part of this thesis is about human-robot handover: where, when and how to perform them? Depending on the human preferences, it may be better, or not, to share the handover effort between him and the robot, while in other cases, a unique handover might not be enough to achieve the goal (bringing the object to a target agent) and a sequence of handovers might be needed. In any case, during the handover, a number of cues should be used by both protagonists involved in one handover. One of the most used cue is the gaze. When the giver reaches out with his arm, he should look at the object, and when the motion is finished, he should look at the receiver's face to facilitate the transfer. The handover can be considered as a basic action in a bigger plan. The second part of this thesis reports about a formalization of these kind of basic actions" and more complex ones by the use of conditions, search spaces and restraints. It also reports about a framework and different algorithms used to solve and compute these actions based on their description. The last part of the thesis shows how the previously cited framework can fit in with a higher level planner (such as a task planner) and a method to combine a symbolic and geometric planner. The task planner uses external calls to the geometric planner to assess the feasibility of the current task, and in case of success, retrieve the state of the world provided by the geometric reasoner and use it to continue the planning. This part also shows different extensions enabling a faster search. Some of these extensions are \Geometric checks" where we test the infeasibility of multiple actions at once, \constraints" where adding constraints at the symbolic level can drive the geometric search, and \cost driven search" where the symbolic planner uses information form the geometric one to prune out over costly plans.
Document type :
Automatic. INSA de Toulouse, 2015. English. 〈NNT : 2015ISAT0047〉
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Submitted on : Friday, March 2, 2018 - 3:52:10 PM
Last modification on : Wednesday, March 14, 2018 - 10:03:58 AM


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  • HAL Id : tel-01376082, version 2


Mamoun Gharbi. Geometric reasoning planning in the context of Human-Robot Interaction. Automatic. INSA de Toulouse, 2015. English. 〈NNT : 2015ISAT0047〉. 〈tel-01376082v2〉



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