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Supervision pour un robot interactif: action et interaction pour un robot autonome en environnement humain

Abstract : Human-Robot collaborative task achievement requires specific task supervision and execution. In order to close the loop with their human partners robots must maintain an interaction stream in order to communicate their own intentions and beliefs and to monitor the activity of their human partner. In this work we introduce SHARY, a supervisor dedicated to collaborative task achievement in the human robot interaction context. The system deals for one part with task refinement and on the other part with communication needed in the human-robot interaction context. To this end, each task is defined at a communication level and at an execution level. This system has been developped on the robot Rackham for a tour-guide demonstration and has then be used on the robot Jido for a task of fetch and carry to demonstrate system genericity.
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https://tel.archives-ouvertes.fr/tel-00196608
Contributor : Arlette Evrard <>
Submitted on : Thursday, December 13, 2007 - 10:34:47 AM
Last modification on : Friday, October 23, 2020 - 4:51:58 PM
Long-term archiving on: : Thursday, September 27, 2012 - 11:16:17 AM

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  • HAL Id : tel-00196608, version 1

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Aurélie Clodic. Supervision pour un robot interactif: action et interaction pour un robot autonome en environnement humain. Automatique / Robotique. Université Paul Sabatier - Toulouse III, 2007. Français. ⟨tel-00196608⟩

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