. Résumé-de-mouvements, est l'adaptation de critères sociaux et l'adaptation d'un modèle de la vision humaine dans la recherche d'une configuration et d'un emplacement du robot pour l'interaction

@. Une-façon-d, ´ evaluer l'accomplissement de la tâche ? Un schéma de raisonnement sur l'espacè a travers les " yeux de l'humain " pour aider le robotà robotà comprendre etêtreetêtre compris

@. Prise-de-perspective, Le concept principal de ce travail et qui fait référencè a la capacité de comprendre et de percevoir ce que les autres personnes disent, font ou regardent, en fonction de son point de vue. On se focalisera sur la " prise de perspective visuelle

/. @bullet-attention-partagée and . Jointe, Le fait que deux individus ou plus, font attention au même objet ou endroit pour une intention commune de communication

T. Tversky, Dans ledeuxì eme niveau une personne est capable de se faire une image mentale de la perception de son partenaire, autrement dit, elle est capable de se mettre dans la tête de son partenaire Tversky 99, Lee 01] ont fait différentesdifférentesétudes sur lamanì ere dont les humains changent leur perspectives. Ils concluent que pour qu'une personne en comprenne une autre, le développement de la prise de perspective est un outil nécessaire. La prise de perspective est utilisée comme base pour développer des algorithmes et systèmes qui permettent une interaction plus fiable entre machines et personnes. C'est le cas pour la réalisation de systèmes d'images de synthèse en 3D. O` u la perspective de l'homme doitêtredoitêtre simulée pour permettre une immersion dans l'ambiance virtuelle, Taylor, vol.96

. Kaplan, revientàrevientà la classification de Tomasselo et mentionne que pour arriverà arriverà une meilleure attention partagée entre l'homme et le robot, il doit exister au moins quatre préconditions: ? Détection de l'attention : pour suivre l

. Scassellati, Scassellati 99] divise l'accomplissement de l'attention partagée en quatre tâches : regard mutuel, suivi du regarde, pointage impératif d'un objet et un pointage déclaratif de un objet distant

. De-façon-complémentaire, il existe des travaux qui mesurent comment les personnes dirigent l'attention d'un robot [Imai 03, Ogata 09]. La prise de perspective est aussi utilisée pour pouvoir obtenir les objets d'attention, ces objetsétantobjetsétant définis soit manuellement

P. La-technique-utilisée-par and . Peut, Elle consiste tout d'abordàabordà délimiter l'espace de configuration dans une zone proche de l'objet d'interaction (que ce soit un humain ou un objet) Une fois l'espace défini, l'´ etape suivante est de discrétiser la zone en points sur le sol dans l'espace polaire, et finalement d'´ evaluer chaque point obtenu lors de la discrétisation pour choisir le meilleur. L'´ evaluation est faite en terme d'utilité, basé sur l'assignation des qualités et des coûts Ces deux propriétés dépendront de la tâche et il s'agit de maximiser la qualité et de minimiser les coûts. Notre tâche de base est celle de la perception. Dans cette tâche, la qualité est basée sur l'implémentation de la prise de perspectivé egocentrique sur le robot et la quantité que l'objet desiré est per¸uper¸u par le robotàrobotà partir de chaque position, Le robot doitéviterdoitéviter au maximum les obstacles visuels qui peuvent géner sa perception et nuire au bon déroulement de la tâche. La figure 7.1 montre les valeurs obtenus pour la qualité de la perception

G. Avec-le-système and . Dans-ladernì-ere-partie-de-ce-travail, le robot est capable d'obtenir la perspective de l'homme et de raisonner sur les perspectives de tous les deux, permettant au robot de produire un canal de communication entre lui et l'homme pour arriveràarriverà unepremì eréeré etape d'attention partagée entre eux. Ce système nous a permit de conna??ttreconna??ttre principalement que: ? Il n'est pas possible d'obtenir une prise de perspective de niveau deux si on ne réalise que le suivi du regard

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