RT Journal Article
T1 An Automated Planning Model for HRI: Use Cases on Social Assistive Robotics
A1 Fuentetaja Pizán, Raquel
A1 García Olaya, Ángel
A1 García Polo, Francisco Javier
A1 González Dorado, José Carlos
A1 Fernández Rebollo, Fernando
AB Using 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.
PB MDPI
SN 1424-8220
YR 2020
FD 2020-11-02
LK https://hdl.handle.net/10016/33118
UL https://hdl.handle.net/10016/33118
LA eng
NO This 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.
DS e-Archivo
RD 17 jul. 2024