Human-Aware Motion Planning

Some papers and illustrative videos dealing with motion and task planning problems for HRI i.e. motion for robots which the space and the task with the human.

A selection of papers and some illustrations.

Human-aware mobile robot motion planning, social navigation

 

Head-Body Motion Coordination for Human Aware Robot Navigation.
H. Khambhaita, J. Rios-Martinez, and R. Alami.
in 9th International workshop on Human-Friendly Robotics (HFR 2016), 2016, p. 8p.

Robots learning how and where to approach people,
O. A. I. Ramírez, H. Khambhaita, R. Chatila, M. Chetouani, and R. Alami.
in 25th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2016, New York, NY, USA, August 2016, pp. 347-353.

Evaluating directional cost models in navigation.
T. Kruse, A. Kirsch, H. Khambhaita, and R. Alami.
in ACM/IEEE International Conference on Human-Robot Interaction, HRI-14, Bielefeld, Germany, 2014, pp. 350-357.

A framework towards a socially aware Mobile Robot motion in Human-Centered dynamic environment.
A. K. Pandey and R. Alami,
in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, pp. 5855-5860.

A Human Aware Mobile Robot Motion Planner.
E. A. Sisbot, L. F. Marin-Urias, R. Alami, and T. Simeon.
IEEE Transactions on Robotics, vol. 23, no. 5, pp. 874-883, Oct. 2007.

A mobile robot that performs human acceptable motions.
E. A. Sisbot, L. F. Marin-Urias, R. Alami, and T. Siméon.
in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 2006, pp. 1811-1816.

Navigation in the presence of humans.
Emrah Akin Sisbot, Rachid Alami, Thierry Siméon, Kerstin Dautenhahn, Mick L. Walters, Sarah N. Woods.
Humanoids 2005 pp 181-188

Diligent: towards a human-friendly navigation system.
Rachid Alami, Igor Belousov, Sara Fleury, Matthieu Herrb, Félix Ingrand, Javier Minguez, Benoit Morisset.
in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2000, Takamatsu, Japan, 2000, pp. 21-26.

Human-aware navigation: Computation of Configuration costs (Distance, Visibility, Hidden regions

Human-aware navigation: planned behavior in corridor

Human-Aware Navigation in dynamic environment

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Social navigation in human environments considered as a cooperative activity

 

Viewing Robot Navigation in Human Environment as a Cooperative Activity.
H. Khambhaita and R. Alami.
in International Symposium on Robotics Research (ISSR 2017), Puerto Varas, Chile, 2017, p. 18p.

A Human-Robot Cooperative Navigation Planner.
H. Khambhaita and R. Alami.
in Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2017, Vienna, Austria, March 6-9, 2017, 2017, pp. 161-162.

Khambhaita -ISRR 2017

Also visible in

IEEE Spectrum

and

Newscientist

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Survey and comparison of human-aware navigation planners

 

Human-aware robot navigation: A survey.
T. Kruse, A. K. Pandey, R. Alami, and A. Kirsch.
Robotics and Autonomous Systems, vol. 61, no. 12, pp. 1726-1743, December 2013.

Assessing the social criteria for human-robot collaborative navigation: A comparison of human-aware navigation planners.
H. Khambhaita and R. Alami.
in 26th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2017, Lisbon, Portugal, 2017, pp. 1140-1145.

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Human-aware manipulation planning

 

A human-aware manipulation planner.
E. A. Sisbot and R. Alami.
IEEE Transactions on Robotics, vol. 28, no. 5, pp. 1045-1057, 2012.

Planning human-aware motions using a sampling-based costmap planner,
J. Mainprice, E. A. Sisbot, L. Jaillet, J. Cortès, R. Alami, and T. Siméon.
in Robotics and Automation (ICRA), 2011 IEEE International Conference on, 2011, pp. 5012-5017.

Planning safe and legible hand-over motions for human-robot interaction
J Mainprice, EA Sisbot, T Siméon, R Alami
IARP workshop on technical challenges for dependable robots in human in human environments, 2010.

Synthesizing robot motions adapted to human presence.
E. A. Sisbot, L. Marin-Urias, X. Broquère, D. Sidobre, and R. Alami
International Journal of Social Robotics, vol. 2, no. 3, pp. 329-343, 2010.

Spatial reasoning for human robot interaction.
E. A. Sisbot, L. F. Marin-Urias, and R. Alami,
in 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Sheraton Hotel and Marina, San Diego, California, USA, 2007, pp. 2281-287.

Safe and dependable physical human-robot interaction in anthropic domains: State of the art and challenges
R. Alami A. Albu-Schaffer, A. Bicchi, R. Bischoff, R. Chatila, A. De Luca, A. De Santis, G. Giralt, Georges, J. Guiochet, G. Hirzinger
Intelligent Robots and Systems, 2006 IEEE IROS

Just avoiding obstacles: Intrusive behavior

Human-aware manipulation planning: Better behavior (legibility and confort)

Planning a Pick&Place with a Human-Aware manipulation planner

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Planning handovers for robots and humans.

 

Planning motion for the robot and the human, sharing and balancing the effort between the human and the robot

Planning handovers involving humans and robots in constrained environment.
J. Waldhart, M. Gharbi, and R. Alami.
in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 2015, pp. 6473-6478.

Natural interaction for object hand-over.
M. Gharbi, S. Lemaignan, J. Mainprice, and R. Alami,
in ACM/IEEE International Conference on Human-Robot Interaction, HRI 2013, Tokyo, Japan, March 2013, pp. 401-402.

Sharing effort in planning human-robot handover tasks.
J. Mainprice, M. Gharbi, T. Siméon, and R. Alami.
in 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication, 2012, pp. 764-770.

Hand-over: Planning for both, allowing proactive robot behavior

Hand-over: Planning for both. Sharing the effort between Human and Robot)

Adapting Effort sharing: if the person is young and in a hurry

Adapting Effort sharing: if the person has difficulty to move

Planning Multiple hand overs between Humansa and Robots (Waldhart, IROS-15))

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Users studies in HRI linked Robot motion close or in synergy with humans

 

Toward a better understanding of the communication cues involved in a human-robot object transfer.
Mamoun Gharbi, Pierre-Vincent Paubel, Aurélie Clodic, Ophélie Carreras, Rachid Alami, Jean-Marie Cellier.
IEEE RO-MAN 2015: 319-324

Physiological and subjective evaluation of a human–robot object hand-over task.
F. Dehais, E. A. Sisbot, R. Alami, and M. Causse,
Applied Ergonomics, vol. 42, no. 6, pp. 785-791, November 2011.

Exploratory Study of a Robot Approaching a Person in the Context of Handing Over an Object in Multidisciplinary Collaboration for Socially Assistive Robotics,
K. L. Koay, E. A. Sisbot, D. S. Syrdal, M. L. Walters, K. Dautenhahn, and R. Alami.
2007 AAAI Spring Symposium, Technical Report SS-07-07, Stanford, California, USA, March 2007, pp. 18-24.

How may I serve you?: a robot companion approaching a seated person in a helping context.
Kerstin Dautenhahn, Michael L. Walters, Sarah Woods, Kheng Lee Koay, Chrystopher L. Nehaniv, Emrah Akin Sisbot, Rachid Alami, Thierry Siméon.
in Proceedings of the 1st ACM SIGCHI/SIGART Conference on Human-Robot Interaction, HRI 2006, Salt Lake City, Utah, USA, March 2006, pp. 172-179.

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Planning safe but efficient navigation tasks

 

Provably Safe Motions Strategies for Mobile Robots in Dynamic Domains.
R. Alami, K. M. Krishna, and T. Siméon.
in Autonomous Navigation in Dynamic Environments, vol. 35, C. Laugier and R. Chatila, Eds. Berlin, Heidelberg: Springer Berlin Heidelberg, 2007, pp. 85-106.

Safe proactive plans and their execution.
K. Madhava Krishna, Rachid Alami, Thierry Siméon.
Robotics and Autonomous Systems 54(3): 244-255 (2006)

On the influence of sensor capacities and environment dynamics onto collision-free motion plans.
Rachid Alami, Thierry Siméon, K. Madhava Krishna.
IROS 2002: 2395-2400

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