Dynamic Generation and Execution of Human Aware Navigation Plans

Thibault Kruse (1) , Alexandra Kirsch (1, 2) , Emrah Akin Sisbot (3) , Rachid Alami (4)

1 Intelligent Autonomous Systems
2 Human-Computer Interaction and Artificial Intelligence
3 LAAS - Laboratoire d'analyse et d'architecture des systèmes
4 LAAS-RIS - Équipe Robotique et InteractionS

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.

Domaines: Intelligence artificielle [cs.AI]; Interface homme-machine [cs.HC]; Robotique [cs.RO]

Thibault Kruse, Alexandra Kirsch, Emrah Akin Sisbot, Rachid Alami. Dynamic Generation and Execution of Human Aware Navigation Plans. The 9th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2010, Toronto, Canada. ⟨hal-01405747⟩