Sensors, Vol. 20, Pages 6520: An Automated Planning Model for HRI: Use Cases on Social Assistive Robotics

Sensors, Vol. 20, Pages 6520: An Automated Planning Model for HRI: Use Cases on Social Assistive Robotics Sensors doi: 10.3390/s20226520 Authors: Raquel Fuentetaja Angel García-Olaya Javier García José Carlos González and Fernando González Fernández Using Automated Planning for the high level control of robotic architectures is becoming very popular thanks mainly to its capability to define the tasks to perform in a declarative way. However, classical planning tasks, even in its basic standard Planning Domain Definition Language (PDDL) format, are still very hard to formalize for non expert engineers when the use case to model is complex. Human Robot Interaction (HRI) is one of those complex environments. This manuscript describes the rationale followed to design a planning model able to control social autonomous robots interacting with humans. It is the result of the authors’ experience in modeling use cases for Social Assistive Robotics (SAR) in two areas related to healthcare: Comprehensive Geriatric Assessment (CGA) and non-contact rehabilitation therapies for patients with physical impairments. In this work a general definition of these two use cases in a unique planning domain is proposed, which favors the management and integration with the software robotic architecture, as well as the addition of new use cases. Results show that the model is able to capture all the relevant aspects of the Human-Robot interaction in those scenarios...
Source: Sensors - Category: Biotechnology Authors: Tags: Article Source Type: research