Abstract
The deployment of robots in public environments is gaining
more and more attention and interest both for the research
opportunities and for the possibility of developing commercial
applications over it. In these scenarios, proper definitions
and implementations of human-robot interactions are crucial
and the specific characteristics of the environment (in particular,
the presence of untrained users) makes the task of defining
and implementing effective interactions particularly challenging.
In this paper, we describe a method and a fully implemented
robotic system using conditional planning for generating and
executing short-term interactions by a robot deployed in a
public environment. To this end, the proposed method integrates
and extends two components already successfully used
for planning in robotics: ROSPlan and Petri Net Plans.
The contributions of this paper are the problem definition of
generating short-term interactions as a conditional planning
problem and the description of a solution fully implemented
on a real robot. The proposed method is based on the integration
between a contingent planner in ROSPlan and the Petri
Net Plans execution framework, and it has been tested in different
scenarios where the robot interacted with hundreds of
untrained users.
more and more attention and interest both for the research
opportunities and for the possibility of developing commercial
applications over it. In these scenarios, proper definitions
and implementations of human-robot interactions are crucial
and the specific characteristics of the environment (in particular,
the presence of untrained users) makes the task of defining
and implementing effective interactions particularly challenging.
In this paper, we describe a method and a fully implemented
robotic system using conditional planning for generating and
executing short-term interactions by a robot deployed in a
public environment. To this end, the proposed method integrates
and extends two components already successfully used
for planning in robotics: ROSPlan and Petri Net Plans.
The contributions of this paper are the problem definition of
generating short-term interactions as a conditional planning
problem and the description of a solution fully implemented
on a real robot. The proposed method is based on the integration
between a contingent planner in ROSPlan and the Petri
Net Plans execution framework, and it has been tested in different
scenarios where the robot interacted with hundreds of
untrained users.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 27th International Conference on Automated Planning and Scheduling, ICAPS 2017 |
| Publisher | AAAI Press |
| Pages | 540-548 |
| ISBN (Electronic) | 9781577357896 |
| Publication status | Published - 2017 |