Dealing with On-Line Human-Robot Negotiations in Hierarchical Agent-based Task Planner

Authors

  • Eugenio Sebastiani Sapienza University of Rome
  • Raphaël Lallement Laboratoire d'Analyse et d'Architecture des Systèmes (LAAS-CNRS), Universitè de Toulouse, CNRS
  • Rachid Alami Laboratoire d'Analyse et d'Architecture des Systèmes (LAAS-CNRS), Universitè de Toulouse, CNRS
  • Luca Iocchi Sapienza University of Rome

DOI:

https://doi.org/10.1609/icaps.v27i1.13862

Abstract

Collaboration between humans and robots to accomplish different kinds of tasks has been recently studied as a planning problem and several techniques have been developed to define and generate shared plans where humans and robots collaborate to achieve a common goal. However, current methods require the knowledge of the human about the plan under execution and an agreement between users and robots about their roles before the execution of the plan. In this paper, we propose an extension to the Hierarchical Agent-based Task Planner (HATP) that enables humans and robots to negotiate some aspects of the collaboration online during the execution of the plan. The proposed method is based on the automatic generation of a conditional plan in which missing information is acquired at execution time by means of sensing actions. The proposed method has been fully implemented and tested on a real robot performing collaborative tasks in an office-like environment.

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Published

2017-06-05

How to Cite

Sebastiani, E., Lallement, R., Alami, R., & Iocchi, L. (2017). Dealing with On-Line Human-Robot Negotiations in Hierarchical Agent-based Task Planner. Proceedings of the International Conference on Automated Planning and Scheduling, 27(1), 549-557. https://doi.org/10.1609/icaps.v27i1.13862