A Novel Software Combining Task and Motion Planning for Human-Robot Interaction

Jules Waldhart (1) , Mamoun Gharbi (2) , Rachid Alami (1)

1 LAAS-RIS - Équipe Robotique et InteractionS
2 ENIB - École Nationale d'Ingénieurs de Brest

Task planning and motion planning softwares operate on very different representations, making it hard to link them. We propose a software filling that gap in a generic way, mainly by choosing the best way to physically perform a task according to a higher level plan and taking explicitly into account human comfort and preferences.

Mots clés: Task and motion planning; Motion planning; Task planning; Human Robot Interaction

Domaines: Robotique [cs.RO]; Automatique / Robotique; Intelligence artificielle [cs.AI]; Géométrie algorithmique [cs.CG]

Jules Waldhart, Mamoun Gharbi, Rachid Alami. A Novel Software Combining Task and Motion Planning for Human-Robot Interaction. 2016 AAAI Fall Symposium Series, Artificial Intelligence for Human-Robot Interaction, Nov 2016, Washington, United States. ⟨hal-01954954⟩