On human-aware task and motion planning abilities for a teammate robot

International audience—Human-robot collaboration requires to equip the robot with explicit reasoning on the human and on its own capabilities to achieve its tasks in a collaborative way with a human partner. This paper presents and discusses three human-aware planners which can provide to a teammate robot the ability to asynthesize pertinent and acceptable behaviour in an industrial context. The illustrative context is inspired by a realistic project to involve collaborative mobile manipulators in the assembly of some components of the Ariane launcher