Anticipatory Planning for Human-Robot Teams

  title={Anticipatory Planning for Human-Robot Teams},
  author={Hema Swetha Koppula and Ashesh Jain and Ashutosh Saxena},
When robots work alongside humans for performing collaborative tasks, they need to be able to anticipate human’s future actions and plan appropriate actions. The tasks we consider are performed in contextually-rich environments containing objects, and there is a large variation in the way humans perform these tasks. We use a graphical model to represent the state-space, where we model the humans through their low-level kinematics as well as their high-level intent, and model their interactions… CONTINUE READING
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