LAAS-CNRS†

Abstract—This paper addresses high-level robot planning issues for an interactive cognitive robot that has to act in presence or in collaboration with a human partner. We describe a task planner called HATP (for Human Aware Task Planner). HATP is especially designed to handle a set of human-centered constraints in order to provide ”socially acceptable ” plans that are oriented toward collaborative task achievement. We provide an overall description of HATP and discuss its main structure and algorithmic features. I