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Theses

A NEW FORMULATION AND RESOLUTION SCHEMES FOR PLANNING COLLABORATIVE HUMAN-ROBOT TASKS

Jules Waldhart 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : When interacting with humans, robotic systems shall behave in compliance to some of our socio-cultural rules, and every component of the robot have to take them into account. When deciding an action to perform and how to perform it, the system then needs to communicate pertinent contextual information to its components so they can plan respecting these rules. It is also essential for such robot to ensure a smooth coordination with its human partners. We humans use many cues for synchronization like gaze, legible motions or speech. We are good at inferring what actions are available to our partner, helping us to get an idea of what others are going to do (or what they should do) to better plan for our own actions. Enabling the robot with such capacities is key in the domain of human-robot interaction. This thesis presents our approach to solve two tasks where humans and robots collaborate deeply: a transport problem where multiple robots and humans need to or can handover an object to bring it from one place to another, and a guiding task where the robot helps the humans to orient themselves using speech, navigation and deictic gestures (pointing). We present our implementation of components and their articulation in a architecture where contextual information is transmitted from higher levels decision components to lower ones, which use it to adapt. Our planners also plan for the human actions, as in a multi-robot system: this allows to not be waiting for humans to act, but rather be proactive in the proposal of a solution, and try to predict the actions they will take.
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Jules Waldhart. A NEW FORMULATION AND RESOLUTION SCHEMES FOR PLANNING COLLABORATIVE HUMAN-ROBOT TASKS. Artificial Intelligence [cs.AI]. INSA de Toulouse, 2018. English. ⟨NNT : 2018ISAT0047⟩. ⟨tel-02433512v2⟩

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