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In daily human interactions spatial reasoning occupies an important place. With this ability we can build relations between objects and people, and we can predict the capabilities and the knowledge of the people around us. An interactive robot is also expected to have these abilities in order to establish an efficient and natural interaction. In this paper we present a situation assessment reasoner,...
This paper addresses the motion planning problem while considering Human-Robot Interaction (HRI) constraints. The proposed planner generates collision-free paths that are acceptable and legible to the human. The method extends our previous work on human-aware path planning to cluttered environments. A randomized cost-based exploration method provides an initial path that is relevant with respect to...
Humans constantly generate and solve ambiguities while interacting with each other in their every day activities. Hence, having a robot that is able to solve ambiguous situations is essential if we aim at achieving a fluent and acceptable human-robot interaction. We propose a strategy that combines three mechanisms to clarify ambiguous situations generated by the human partner. We implemented our...
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