Publication
Planning interactions as an event handling solution for successful and balanced human-robot collaboration
Conference Article
Conference
IROS Workshop on Artificial Intelligence for Social Robots Interacting with Humans in the Real World (intellect4hri)
Edition
2022
Doc link
https://intellect4hri.sciencesconf.org/data/pages/Intellect4HRI_IROS_2022_Izquierdo_1.pdf
File
Abstract
Dealing with the stochastic nature of human behaviour in Human-Robot Collaboration (HRC) remains a well known challenge that needs to be tackled. Automated task planning techniques have been implemented in order to share the workload between the agents, but these still lack the necessary adaptability for real world applications. In this paper, we extend the work presented by the authors in [1], where an improved task planning framework integrating an agent model was presented, anticipating and avoiding failures in HRC by reallocating the actions in the plan when necessary. This work introduces the integration of interaction actions into the planning framework, in order to deal with situations where the issue reflected by a change in the agent state might be better handled with an interaction between the agents than by an action reallocation. Preliminary evaluation shows promising results of how this framework can help to increase the success in HRC plans, as well as the balance in workload distribution between the agents, which constitutes a key element in a collaboration.
Categories
intelligent robots.
Author keywords
human-robot collaboration, human-robot interaction, task planning
Scientific reference
S. Izquierdo, C. Rizzo and G. Alenyà. Planning interactions as an event handling solution for successful and balanced human-robot collaboration, 2022 IROS Workshop on Artificial Intelligence for Social Robots Interacting with Humans in the Real World, 2022, Kyoto, Japan, 2022.
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