About Decisions During Human-Robot Shared Plan Achievement: Who Should Act and How?

Sandra Devin (1) , Aurélie Clodic (1, 2) , Rachid Alami (1)

1 LAAS-RIS - Équipe Robotique et InteractionS
2 LAAS-IDEA - Service Informatique : Développement, Exploitation et Assistance

It has been shown that, when a human and a robot have to perform a joint activity together, they need to structure their activity based on a so-called ”shared plan”. In this work, we present a scheme and an implemented system which allow the robot to elaborate and execute shared plans that are flexible enough to be achieved in collaboration with a human in a smooth and non-intrusive manner. We identify and analyze the decisions that should preferably be taken at planning time and those that should be better postponed. We also show in which conditions the robot can determine when it has to take the decision by itself or leave it to its human partner. As a consequence, the robot avoids useless communication by smoothly adapting its behavior to the human.

Mots clés: Human-robot interaction; Human-robot interaction HRI; Theory of mind; Robot Supervision

Domaines: Robotique [cs.RO]; Sciences de l'information et de la communication

Sandra Devin, Aurélie Clodic, Rachid Alami. About Decisions During Human-Robot Shared Plan Achievement: Who Should Act and How?. Social Robotics,9th International Conference, ICSR 2017, Tsukuba, Japan, November 22-24, 2017, Proceedings, 10652, springer, pp.453-463, 2017, Lecture Notes in Computer Science book series, 978-3-319-70022. ⟨hal-01943959⟩