When the robot considers the human

This paper addresses some key decisional issues that are necessary for a cognitive robot which shares space and tasks with a human. We adopt a constructive approach based on the identification and the effective implementation of individual and collaborative skills. The system is comprehensive since it aims at dealing with a complete set of abilities articulated so that the robot controller is effectively able to conduct in a flexible manner a collaborative task with a human partner. These abilities include geometric reasoning and situation assessment based essentially on perspective-taking and affordances, management and exploitation of each agent (hu-man and robot) knowledge in a separate cognitive model, human-aware task planning and human and robot interleaved plan achievement