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An Automated Planning Model for HRI: Use Cases on Social Assistive Robotics

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dc.affiliation.dptoUC3M. Departamento de Informáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Planificación y Aprendizajees
dc.contributor.authorFuentetaja Pizán, Raquel
dc.contributor.authorGarcía Olaya, Ángel
dc.contributor.authorGarcía Polo, Francisco Javier
dc.contributor.authorGonzález Dorado, José Carlos
dc.contributor.authorFernández Rebollo, Fernando
dc.contributor.funderComunidad de Madrides
dc.contributor.funderEuropean Commissionen
dc.contributor.funderMinisterio de Ciencia e Innovación (España)es
dc.date.accessioned2021-07-20T11:41:55Z
dc.date.available2021-07-20T11:41:55Z
dc.date.issued2020-11-02
dc.description.abstractUsing Automated Planning for the high level control of robotic architectures is becoming very popular thanks mainly to its capability to define the tasks to perform in a declarative way. However, classical planning tasks, even in its basic standard Planning Domain Definition Language (PDDL) format, are still very hard to formalize for non expert engineers when the use case to model is complex. Human Robot Interaction (HRI) is one of those complex environments. This manuscript describes the rationale followed to design a planning model able to control social autonomous robots interacting with humans. It is the result of the authors’ experience in modeling use cases for Social Assistive Robotics (SAR) in two areas related to healthcare: Comprehensive Geriatric Assessment (CGA) and non-contact rehabilitation therapies for patients with physical impairments. In this work a general definition of these two use cases in a unique planning domain is proposed, which favors the management and integration with the software robotic architecture, as well as the addition of new use cases. Results show that the model is able to capture all the relevant aspects of the Human-Robot interaction in those scenarios, allowing the robot to autonomously perform the tasks by using a standard planning-execution architecture.en
dc.description.sponsorshipThis work has been partially funded by the European Union ECHORD++ project (FP7-ICT-601116), and grants TIN2017-88476-C2-2-R and RTI2018-099522-B-C43 of FEDER/Ministerio de Ciencia e Innovación-Ministerio de Universidades-Agencia Estatal de Investigación. Javier García is partially supported by the Comunidad de Madrid funds under the project 2016-T2/TIC-1712.en
dc.format.extent19
dc.identifier.bibliographicCitationFuentetaja, R., García-Olaya, A., García, J., González, J. C. & Fernández, F. (2020). An Automated Planning Model for HRI: Use Cases on Social Assistive Robotics. Sensors, 20(22), 6520.en
dc.identifier.doihttps://doi.org/10.3390/s20226520
dc.identifier.issn1424-8220
dc.identifier.publicationfirstpage6523
dc.identifier.publicationissue22
dc.identifier.publicationtitleSensorsen
dc.identifier.publicationvolume20
dc.identifier.urihttps://hdl.handle.net/10016/33118
dc.identifier.uxxiAR/0000026829
dc.language.isoeng
dc.publisherMDPI
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/FP7-ICT-601116
dc.relation.projectIDComunidad de Madrid. 2016-T2/TIC-1712es
dc.relation.projectIDGobierno de España. TIN2017-88476-C2-2-Res
dc.relation.projectIDGobierno de España. RTI2018-099522-B-C43es
dc.rights© 2020 by the authors.en
dc.rightsAtribución 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/*
dc.subject.ecienciaInformáticaes
dc.subject.otherAutomated planningen
dc.subject.otherHuman-robot interactionen
dc.subject.otherSocial assistive roboticsen
dc.subject.otherKnowledge representationen
dc.titleAn Automated Planning Model for HRI: Use Cases on Social Assistive Roboticsen
dc.typeresearch article*
dc.type.hasVersionVoR*
dspace.entity.typePublication
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