FlowAct: A Proactive Multimodal Human-Robot Interaction System with Continuous Flow of Perception and Modular Action Sub-Systems

Timothée Dhaussy, Bassam Jabaian, Fabrice Lefèvre

2025

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 hospital waiting room to offer participants various services (appointment management, information, entertainment, etc.).

Paper Citation

in Harvard Style

Dhaussy T., Jabaian B. and Lefèvre F. (2025). FlowAct: A Proactive Multimodal Human-Robot Interaction System with Continuous Flow of Perception and Modular Action Sub-Systems. In Proceedings of the 14th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM; ISBN 978-989-758-730-6, SciTePress, pages 771-779. DOI: 10.5220/0013265700003905

in Bibtex Style

@conference{icpram25,
author={Timothée Dhaussy and Bassam Jabaian and Fabrice Lefèvre},
title={FlowAct: A Proactive Multimodal Human-Robot Interaction System with Continuous Flow of Perception and Modular Action Sub-Systems},
booktitle={Proceedings of the 14th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM},
year={2025},
pages={771-779},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013265700003905},
isbn={978-989-758-730-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 14th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM
TI - FlowAct: A Proactive Multimodal Human-Robot Interaction System with Continuous Flow of Perception and Modular Action Sub-Systems
SN - 978-989-758-730-6
AU - Dhaussy T.
AU - Jabaian B.
AU - Lefèvre F.
PY - 2025
SP - 771
EP - 779
DO - 10.5220/0013265700003905
PB - SciTePress