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Interaction décisionnelle Homme-Robot : planification de tâche pour un robot interactif en environnement humain

Samir Alili 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This thesis addresses the problem of the shared decision between human and robot in the perspective of interactive problem solving that involved human and robot. The robot and human share common goals and must work together to identify how to realize (the capacity and the competence of each one are different ). Issues to be addressed concerning this division of roles, sharing of authority in the execution of a task (taking initiative), to exhibit the knowledge such that both can play an optimal role in the resolution of common problems. We developed a task planner named HATP (Human Aware Task Planner). This planner is based on hierarchical task planning that is enriched with social rules. It can produce plans that are socially acceptable that means plans that make legible the actions and intentions of the robot. The planner also has the ability to plan for the robot and humans while ensuring optimality for each. We are also interested in a hybrid approach that mixes between task planning and geometrical planning. This approach allows the robot to have control over the sequence of actions that it produces, but also on how to achieve it. Thereby treat the human-robot interaction problem more cleverly, but also on several levels.
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Samir Alili. Interaction décisionnelle Homme-Robot : planification de tâche pour un robot interactif en environnement humain. Systèmes embarqués. Université Paul Sabatier - Toulouse III, 2011. Français. ⟨tel-01068811⟩

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