Communicate robot’s intention using swept volumes

Nowadays robots are becoming increasingly capable and their interaction with humans is a critical technological challenge. Interaction, by definition, requires communication between robots and humans. This communication between a human and a robot may take in several forms. In this project, we focus on the robot’s motion as the communication channel. The idea behind this project is to communicate correctly so the human can anticipate robustly what the robot is intending to do before the robot finishes its task, that is to say, the robot should demonstrate a behavior that is legible. Achieving such coordination between humans and robots is a major challenge and is increasingly being studied in the world of robotics. We believe that this study will bring two major advantages into human-robot collaborations. Firstly, in case the robot is incapable of completing the task, it will help understand what task it is trying to accomplish, and which is the cause of incapability. And secondly, the fact that when humans are familiar with the robot intention, they may adjust their motions to avoid possible collisions or enhance the collaborationOutgoin