Dynamic generation and execution of human aware navigation plans

d Abstract) Thibault Kruse, Alexandra Kirsch, E. Akin Sisbot, Rachid Alami A robot moving in the presence of humans is highly constrained by the dynamic environment and the need to comply with human safety, preferences, cognition and actions. The dynamic nature of the environment should be taken into account at planning time and must be allowed for by flexible plan execution, to produce safe, efficient and legible robot behavior. Moreover, when the space in which humans and robots interact is small, additional measures must be taken to allow efficient robot movement. This paper extends an existing human-aware navigation planner with mechanisms to account for movement of humans and confined areas. Categories and Subject Descriptors I.2.8 [Problem Solving, Control Methods, and Search]: Plan execution, formation, and generation; I.2.9 [Robotics]: Kinematics and dynamics General Terms Algorithms, Performance, Human Factors Keywords Robot planning (including action and motion planning), Hu...

• Type: Conference
• Year: 2010
• Where: ATAL
• Authors: Thibault Kruse, Alexandra Kirsch, Emrah Akin Sisbot, Rachid Alami
• Keywords: ATAL 2010, Intelligent Agents, Legible Robot Behavior, Plan Execution, Robot