Introducing a ROS based planning and execution framework for human-robot interaction

Christian Dondrup, Ioannis Papaioannou, Jekaterina Novikova, Oliver Lemon

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Working in human populated environments requires fast and robust action selection and execution especially when deliberately trying to interact with humans. This work presents the combination of a high-level planner (ROSPlan) for action sequencing and automatically generated finite state machines (PNP) for execution. Using this combined system we are able to exploit the speed and robustness of the execution and the flexibility of the sequence generation and combine the positive aspects of both approaches.
Original languageEnglish
Title of host publicationProceedings of the 1st ACM SIGCHI International Workshop on Investigating Social Interactions with Artificial Agents
PublisherAssociation for Computing Machinery
Number of pages2
ISBN (Electronic)9781450355582
Publication statusPublished - 13 Nov 2017


  • Human-Robot Interaction
  • Robotic planning


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