A human-robot interaction system should be capable of adapting the execution of cooperative plans with respect to complex human activities and interventions. In this paper, we present an integrated framework that exploits attentional supervision and contention scheduling to combine human-aware planning, plan execution, and natural human-robot interaction. Specifically, in the proposed approach, hierarchical cooperative plans are exploited as top-down attentional guidance for the robotic executive system, which can flexibly orchestrate the task activities while reacting to environmental stimuli and human behaviors. We describe the overall framework discussing some case studies in human-robot collaborative scenarios.
Attentional supervision of human-robot collaborative plans / Caccavale, R.; Cacace, J.; Fiore, M.; Alami, R.; Finzi, A.. - (2016), pp. 867-873. (Intervento presentato al convegno 25th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2016 tenutosi a Columbia University, New York nel 26-31 Agosto 2016) [10.1109/ROMAN.2016.7745221].
Attentional supervision of human-robot collaborative plans
R. Caccavale;J. Cacace;A. Finzi
2016
Abstract
A human-robot interaction system should be capable of adapting the execution of cooperative plans with respect to complex human activities and interventions. In this paper, we present an integrated framework that exploits attentional supervision and contention scheduling to combine human-aware planning, plan execution, and natural human-robot interaction. Specifically, in the proposed approach, hierarchical cooperative plans are exploited as top-down attentional guidance for the robotic executive system, which can flexibly orchestrate the task activities while reacting to environmental stimuli and human behaviors. We describe the overall framework discussing some case studies in human-robot collaborative scenarios.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
