Authors:
Timothée Dhaussy
;
Bassam Jabaian
and
Fabrice Lefèvre
Affiliation:
Laboratoire Informatique d’Avignon, Avignon University, France
Keyword(s):
HRI, Robotics, Multimodal Perceptions, Proactive.
Abstract:
The evolution of autonomous systems in the context of human-robot interaction systems requires a synergy between the continuous perception of the environment and the potential actions to navigate or interact with it. In this paper we present FlowAct, a proactive multimodal human-robot interaction architecture, working as an asynchronous endless loop of robot sensors into actuators, and organized by two controllers, the Environment State Tracking (EST) and the Action Planner. Through a series of real-world experiments, we exhibit the efficacy of the system in maintaining a continuous perception-action loop, substantially enhancing the responsiveness and adaptability of autonomous pro-active agents. The modular architecture of the action subsystems facilitates easy extensibility and adaptability to a broad spectrum of tasks and scenarios. The experiments demonstrate the ability of a Pepper robot governed by FlowAct to intervene proactively in laboratory tests and in the field in a hosp
ital waiting room to offer participants various services (appointment management, information, entertainment, etc.).
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