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

Christian Dondrup; Ioannis Papaioannou; Jekaterina Novikova; Oliver Lemon

doi:10.1145/3139491.3139500

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 proceeding › Conference contribution

Abstract

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 language	English
Title of host publication	Proceedings of the 1st ACM SIGCHI International Workshop on Investigating Social Interactions with Artificial Agents
Publisher	Association for Computing Machinery
Pages	27-28
Number of pages	2
ISBN (Electronic)	9781450355582
DOIs	https://doi.org/10.1145/3139491.3139500
Publication status	Published - 13 Nov 2017

Keywords

Human-Robot Interaction
Robotic planning

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10.1145/3139491.3139500

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title = "Introducing a ROS based planning and execution framework for human-robot interaction",

abstract = "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.",

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Introducing a ROS based planning and execution framework for human-robot interaction. / Dondrup, Christian; Papaioannou, Ioannis; Novikova, Jekaterina et al.
Proceedings of the 1st ACM SIGCHI International Workshop on Investigating Social Interactions with Artificial Agents. Association for Computing Machinery, 2017. p. 27-28.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Introducing a ROS based planning and execution framework for human-robot interaction

AU - Dondrup, Christian

AU - Papaioannou, Ioannis

AU - Novikova, Jekaterina

AU - Lemon, Oliver

PY - 2017/11/13

Y1 - 2017/11/13

N2 - 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.

AB - 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.

KW - Human-Robot Interaction

KW - Robotic planning

U2 - 10.1145/3139491.3139500

DO - 10.1145/3139491.3139500

M3 - Conference contribution

SP - 27

EP - 28

BT - Proceedings of the 1st ACM SIGCHI International Workshop on Investigating Social Interactions with Artificial Agents

PB - Association for Computing Machinery

ER -

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

Abstract

Keywords

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