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A. Appendix and . French, Abstract Afin d'intégrer le paramètre humain dans le système nous avons tout d'abord intégré dans la planificateur géométrique des planificateurs de mouvement prenant en compte l

M. Et, qui utilise entre autres des notions de distance et de visibilité pour garder le robot dans des configurations qui soient acceptables pour l'homme. Ensuite, nous avons misàmisà jour les coûts des opérateurs avec des contreparties géométriquesgéométriquesà l'aide de ces coûts prenant en compte l'humain. Ceci a permis, en outre, de choisir, non seulement de meilleures trajectoires (d'un point de vue d'acceptabilité pour l'homme) mais, 2007.

A. La-figure, 18 montre une situation o` u le robot doit apporteràapporterà l'humain en vert un des deux manuels disponibles (la seule différence est leurs positions initiales) Quand l'humain en bleu n'est pas l` a, le robot choisi le manuel le plus proche est le rapportè a l'homme en vert. Dans le cas o` u l'humain en bleu se trouve près de la table, même si lapremì ere solution reste faisable, l'allée retour jusqu