Reactive Planning for Coordinated Handover of an Autonomous Aerial Manipulator

Jérôme Truc (1) , Daniel Sidobre (1) , Rachid Alami (1)

1 LAAS-RIS - Équipe Robotique et InteractionS

In this paper, we present a coordinated and reactive human-aware motion planner for performing a handover task by an autonomous aerial manipulator (AAM). We present a method to determine the final state of the AAM for a handover task based on the current state of the human and the surrounding obstacles. We consider the visual field of the human and the effort to turn the head and see the AAM as well as the discomfort caused to the human. We apply these social constraints together with the kinematic constraints of the AAM to determine its coordinated motion along the trajectory.

Keywords: Computer systems organization; Embedded and cyber-physical systems; Robotics; Human robot Interaction

Domains: Computer Science [cs]; Engineering Sciences [physics]

Jérôme Truc, Daniel Sidobre, Rachid Alami. Reactive Planning for Coordinated Handover of an Autonomous Aerial Manipulator. ACM/IEEE International Conference on Human-Robot Interaction (HRI 2023), Mar 2023, Stockholm, Sweden. pp.122-126, ⟨10.1145/3568294.3580055⟩. ⟨hal-04029293⟩