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Communication Dans Un Congrès Année : 2023

Robust Robot Planning for Human-Robot Collaboration

Résumé

In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question is then: How to derive realistic human behaviors given a known objective? A major issue is that such a human behavior should itself account for the robot behavior, otherwise collaboration cannot happen. In this paper, we rely on Markov decision models, representing the uncertainty over the human objective as a probability distribution over a finite set of objective functions (inducing a distribution over human behaviors). Based on this, we propose two contributions: 1) an approach to automatically generate an uncertain human behavior (a policy) for each given objective function while accounting for possible robot behaviors; and 2) a robot planning algorithm that is robust to the above-mentioned uncertainties and relies on solving a partially observable Markov decision process (POMDP) obtained by reasoning on a distribution over human behaviors. A co-working scenario allows conducting experiments and presenting qualitative and quantitative results to evaluate our approach.
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hal-04191464 , version 1 (30-08-2023)

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Yang You, Vincent Thomas, Francis Colas, Rachid Alami, Olivier Buffet. Robust Robot Planning for Human-Robot Collaboration. 2023 IEEE International Conference on Robotics and Automation (ICRA), May 2023, London, United Kingdom. pp.9793-9799, ⟨10.1109/ICRA48891.2023.10161406⟩. ⟨hal-04191464⟩
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