{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,2]],"date-time":"2025-11-02T16:35:54Z","timestamp":1762101354068,"version":"3.41.0"},"reference-count":37,"publisher":"Association for Computing Machinery (ACM)","issue":"2","license":[{"start":{"date-parts":[[2010,11,1]],"date-time":"2010-11-01T00:00:00Z","timestamp":1288569600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Intell. Syst. Technol."],"published-print":{"date-parts":[[2010,11]]},"abstract":"<jats:p>Consider a house cleaning robot planning its activities for the day. Assume that the robot expects the human inhabitant to first dress, then have breakfast, and finally go out. Then, it should plan not to clean the bedroom while the human is dressing, and to clean the kitchen after the human has had breakfast. In general, robots operating in inhabited environments, like households and future factory floors, should plan their behavior taking into account the actions that will be performed by the humans sharing the same environment. This would improve human-robot cohabitation, for example, by avoiding undesired situations for the human. Unfortunately, current task planners only consider the robot's actions and unexpected external events in the planning process, and cannot accommodate expectations about the actions of the humans.<\/jats:p>\n          <jats:p>In this article, we present a human-aware planner able to address this problem. Our planner supports alternative hypotheses of the human plan, temporal duration for the actions of both the robot and the human, constraints on the interaction between robot and human, partial goal achievement and, most importantly, the possibility to use observations of human actions in the policy generated for the robot. Our planner has been tested both as a stand-alone component and within a full framework for human-robot interaction in a real environment.<\/jats:p>","DOI":"10.1145\/1869397.1869404","type":"journal-article","created":{"date-parts":[[2012,10,12]],"date-time":"2012-10-12T20:56:02Z","timestamp":1350075362000},"page":"1-26","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":35,"title":["Human-aware task planning"],"prefix":"10.1145","volume":"1","author":[{"given":"Marcello","family":"Cirillo","sequence":"first","affiliation":[{"name":"\u00d6rebro University, Sweden"}]},{"given":"Lars","family":"Karlsson","sequence":"additional","affiliation":[{"name":"\u00d6rebro University, Sweden"}]},{"given":"Alessandro","family":"Saffiotti","sequence":"additional","affiliation":[{"name":"\u00d6rebro University, Sweden"}]}],"member":"320","published-online":{"date-parts":[[2010,12,3]]},"reference":[{"volume-title":"Proceedings of the ROMAN Symposium.","author":"Akin Sisbot E.","key":"e_1_2_1_1_1"},{"volume-title":"Proceedings of the AAAI Spring Symposium To Boldly Go Where No Human-Robot Team Has Gone Before.","author":"Alami R.","key":"e_1_2_1_2_1"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1002\/scj.v36:13"},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(99)00071-5"},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/B978-1-55860-332-5.50017-1"},{"volume-title":"Proceedings of the IJCAI-05 Workshop Reasoning with Uncertainty in Robotics (RUR'05)","author":"Bouguerra A.","key":"e_1_2_1_6_1"},{"volume-title":"Proceedings of the 23rd Conference on Artificial Intelligence (AAAI).","author":"Broz F.","key":"e_1_2_1_7_1"},{"volume-title":"Proceedings of the 11th International Symposium on Experimental Robotics (ISER).","author":"Clodic A.","key":"e_1_2_1_8_1"},{"volume-title":"Proceedings of the AAAI Fall Symposium on AI and Eldercare.","author":"Cortellessa G.","key":"e_1_2_1_9_1"},{"volume-title":"Proceedings of the European Conference on Mobile Robots (ECMR).","author":"Di Lello E.","key":"e_1_2_1_10_1"},{"key":"e_1_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2008.920227"},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2004.1310943"},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA).","author":"Gravot F.","key":"e_1_2_1_13_1"},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(95)00103-4"},{"volume-title":"Proceedings of the European Conference on Planning.","author":"Haslum P.","key":"e_1_2_1_15_1"},{"volume-title":"Proceedings of the 18th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN).","author":"Hiolle A.","key":"e_1_2_1_16_1"},{"key":"e_1_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.907483"},{"key":"e_1_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/1228716.1228718"},{"key":"e_1_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1145\/1228716.1228765"},{"key":"e_1_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(98)00023-X"},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/1514095.1514127"},{"volume-title":"Proceedings of the 17th International Joint Conference on Artificial Intelligence (IJCAI).","year":"2001","author":"Karlsson L.","key":"e_1_2_1_22_1"},{"key":"e_1_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1145\/1514095.1514100"},{"key":"e_1_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.5555\/1622655.1622657"},{"volume-title":"Proceedings of the 5th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI).","author":"Mazzolai B.","key":"e_1_2_1_25_1"},{"volume-title":"Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics (SMC).","author":"Montreuil V.","key":"e_1_2_1_26_1"},{"key":"e_1_2_1_27_1","doi-asserted-by":"publisher","DOI":"10.5555\/975615"},{"volume-title":"Proceedings of the International Conference on Advanced Robotics (ICAR).","author":"Pandey A.","key":"e_1_2_1_28_1"},{"key":"e_1_2_1_29_1","doi-asserted-by":"crossref","unstructured":"Puterman M. L. 1994. Markov Decision Processes: Discrete Stochastic Dynamic Programming. John Wiley &amp; Sons.   Puterman M. L. 1994. Markov Decision Processes: Discrete Stochastic Dynamic Programming. John Wiley &amp; Sons.","DOI":"10.1002\/9780470316887"},{"volume-title":"Artificial Intelligence: A Modern Approach (SE)","year":"2003","author":"Russell S.","key":"e_1_2_1_30_1"},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS).","author":"Saffiotti A.","key":"e_1_2_1_31_1"},{"volume-title":"Proceedings of the IROS Workshop on Network Robot Systems. Toward Intelligent Robotic Systems Integrated with Environments.","author":"Sanfeliu A.","key":"e_1_2_1_32_1"},{"key":"e_1_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1145\/1121241.1121293"},{"key":"e_1_2_1_34_1","doi-asserted-by":"publisher","DOI":"10.1145\/1349822.1349862"},{"volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS'07)","author":"Sisbot E.","key":"e_1_2_1_35_1"},{"key":"e_1_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2007.339605"},{"key":"e_1_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.5555\/1622519.1622539"}],"container-title":["ACM Transactions on Intelligent Systems and Technology"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/1869397.1869404","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/1869397.1869404","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T12:08:36Z","timestamp":1750248516000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/1869397.1869404"}},"subtitle":["An application to mobile robots"],"short-title":[],"issued":{"date-parts":[[2010,11]]},"references-count":37,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2010,11]]}},"alternative-id":["10.1145\/1869397.1869404"],"URL":"https:\/\/doi.org\/10.1145\/1869397.1869404","relation":{},"ISSN":["2157-6904","2157-6912"],"issn-type":[{"type":"print","value":"2157-6904"},{"type":"electronic","value":"2157-6912"}],"subject":[],"published":{"date-parts":[[2010,11]]},"assertion":[{"value":"2010-03-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2010-06-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2010-12-03","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}