Planning and Plan-execution for Human-Robot Cooperative Task achievement

Human Robot cooperation brings several challenges to au-tonomous robotics such as adoption of a pro-active behavior, situation analysis and goal generation, intention explanation and adaptation and choice of a correct behavior toward the human. In this paper, we describe a decisional architecture for human robot interaction which addresses some of these challenges. The description will be centered on a planner called HATP (Human Aware Task Planner) and its capacity to synthesize plans for human robot teamwork that respect social conventions and that favour acceptable collaborative behaviors. We provide an overall description of HATP and its integration in a complete implemented architecture. We also illustrate the performance of our system on a daily life sce-nario achieved by a robot in interaction with a human partner in a realistic setup