{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:24:35Z","timestamp":1760239475496,"version":"build-2065373602"},"reference-count":44,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2020,11,14]],"date-time":"2020-11-14T00:00:00Z","timestamp":1605312000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000780","name":"European Commission","doi-asserted-by":"publisher","award":["FP7-ICT-601116"],"award-info":[{"award-number":["FP7-ICT-601116"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100014440","name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades","doi-asserted-by":"publisher","award":["TIN2017-88476-C2-2-R","RTI2018-099522-B-C43"],"award-info":[{"award-number":["TIN2017-88476-C2-2-R","RTI2018-099522-B-C43"]}],"id":[{"id":"10.13039\/100014440","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100012818","name":"Comunidad de Madrid","doi-asserted-by":"publisher","award":["2016-T2\/TIC-1712"],"award-info":[{"award-number":["2016-T2\/TIC-1712"]}],"id":[{"id":"10.13039\/100012818","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Using Automated Planning for the high level control of robotic architectures is becoming very popular thanks mainly to its capability to define the tasks to perform in a declarative way. However, classical planning tasks, even in its basic standard Planning Domain Definition Language (PDDL) format, are still very hard to formalize for non expert engineers when the use case to model is complex. Human Robot Interaction (HRI) is one of those complex environments. This manuscript describes the rationale followed to design a planning model able to control social autonomous robots interacting with humans. It is the result of the authors\u2019 experience in modeling use cases for Social Assistive Robotics (SAR) in two areas related to healthcare: Comprehensive Geriatric Assessment (CGA) and non-contact rehabilitation therapies for patients with physical impairments. In this work a general definition of these two use cases in a unique planning domain is proposed, which favors the management and integration with the software robotic architecture, as well as the addition of new use cases. Results show that the model is able to capture all the relevant aspects of the Human-Robot interaction in those scenarios, allowing the robot to autonomously perform the tasks by using a standard planning-execution architecture.<\/jats:p>","DOI":"10.3390\/s20226520","type":"journal-article","created":{"date-parts":[[2020,11,16]],"date-time":"2020-11-16T21:48:52Z","timestamp":1605563332000},"page":"6520","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["An Automated Planning Model for HRI: Use Cases on Social Assistive Robotics"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3856-2629","authenticated-orcid":false,"given":"Raquel","family":"Fuentetaja","sequence":"first","affiliation":[{"name":"Computer Science Department, Universidad Carlos III de Madrid, 28911 Legan\u00e9s, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4531-5896","authenticated-orcid":false,"given":"Angel","family":"Garc\u00eda-Olaya","sequence":"additional","affiliation":[{"name":"Computer Science Department, Universidad Carlos III de Madrid, 28911 Legan\u00e9s, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5638-5240","authenticated-orcid":false,"given":"Javier","family":"Garc\u00eda","sequence":"additional","affiliation":[{"name":"Computer Science Department, Universidad Carlos III de Madrid, 28911 Legan\u00e9s, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9709-5338","authenticated-orcid":false,"given":"Jos\u00e9 Carlos","family":"Gonz\u00e1lez","sequence":"additional","affiliation":[{"name":"Computer Science Department, Universidad Carlos III de Madrid, 28911 Legan\u00e9s, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3801-6801","authenticated-orcid":false,"given":"Fernando","family":"Fern\u00e1ndez","sequence":"additional","affiliation":[{"name":"Computer Science Department, Universidad Carlos III de Madrid, 28911 Legan\u00e9s, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,11,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"291","DOI":"10.1007\/s12369-013-0178-y","article-title":"Social Robots for Long-Term Interaction: A Survey","volume":"5","author":"Leite","year":"2013","journal-title":"Int. J. Soc. Robot."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"3","DOI":"10.5898\/JHRI.2.2.Fasola","article-title":"A Socially Assistive Robot Exercise Coach for the Elderly","volume":"2","author":"Fasola","year":"2013","journal-title":"J. Hum. Robot. Interact."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Rodr\u00edguez-Lera, F.J., Matell\u00e1n-Olivera, V., Conde-Gonz\u00e1lez, M.\u00c1., and Mart\u00edn-Rico, F. (2018). HiMoP: A three-component architecture to create more human-acceptable social-assistive robots. Cogn. Process., 1\u201312.","DOI":"10.1007\/s10339-017-0850-5"},{"key":"ref_4","unstructured":"Hong, A., Lunscher, N., Hu, T., Tsuboi, Y., Zhang, X., Dos Reis Alves, S.F., Nejat, G., and Benhabib, B. (2020). A Multimodal Emotional Human-Robot Interaction Architecture for Social Robots Engaged in Bidirectional Communication. IEEE Trans. Cybern., 1\u201315."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"103451","DOI":"10.1016\/j.robot.2020.103451","article-title":"I-Support: A robotic platform of an assistive bathing robot for the elderly population","volume":"126","author":"Zlatintsi","year":"2020","journal-title":"Robot. Auton. Syst."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Ficuciello, F., Ruggiero, F., and Finzi, A. (2019). Social Robots as Psychometric Tools for Cognitive Assessment: A Pilot Test. Human Friendly Robotics, Springer International Publishing.","DOI":"10.1007\/978-3-319-89327-3"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"189","DOI":"10.1016\/0004-3702(71)90010-5","article-title":"STRIPS: A New Approach to the Application of Theorem Proving to Problem Solving","volume":"2","author":"Fikes","year":"1971","journal-title":"Artif. Intell."},{"key":"ref_8","unstructured":"Chien, S.A., Kambhampati, S., and Knoblock, C.A. (2000, January 14\u201317). Planning in Interplanetary Space: Theory and Practice. Proceedings of the Fifth International Conference on Artificial Intelligence Planning Systems, Breckenridge, CO, USA."},{"key":"ref_9","unstructured":"Barreiro, J., Boyce, M., Do, M., Frank, J., Iatauro, M., Kichkaylo, T., Morris, P., Ong, J., Remolina, E., and Smith, T. (2012, January 25\u201329). EUROPA: A platform for AI planning, scheduling, constraint programming, and optimization. Proceedings of the 4th International Competition on Knowledge Engineering for Planning and Scheduling (ICKEPS), Sao Paulo, Brazil. Technical Report."},{"key":"ref_10","unstructured":"McDermott, D., Ghallab, M., Howe, A., Knoblock, C., Ram, A., Veloso, M., Weld, D., and Wilkins, D. (1998). PDDL\u2014The Planning Domain Definition Language, Yale Center for Computational Vision and Control. Technical Report CVC TR-98-003\/DCS TR-1165."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"8","DOI":"10.1109\/MIS.2004.1265878","article-title":"MAPGEN: Mixed-initiative planning and scheduling for the Mars Exploration Rover mission","volume":"19","author":"Bresina","year":"2004","journal-title":"IEEE Intell. Syst."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"417","DOI":"10.1007\/s10846-009-9352-8","article-title":"Multi-UAV Cooperation and Control for Load Transportation and Deployment","volume":"57","author":"Maza","year":"2009","journal-title":"J. Intell. Robot. Syst."},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Rajan, K., and Py, F. (2012). T-REX: Partitioned inference for AUV mission control. Further Advances in Unmanned Marine Vehicles, The Institution of Engineering and Technology.","DOI":"10.1049\/PBCE077E_ch9"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Umbrico, A., Cesta, A., Cortellessa, G., and Orlandini, A. (2020). A Holistic Approach to Behavior Adaptation for Socially Assistive Robots. Int. J. Soc. Robot., 1\u201321.","DOI":"10.1007\/s12369-019-00617-9"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"181","DOI":"10.1007\/s10514-015-9534-0","article-title":"Combining temporal planning with probabilistic reasoning for autonomous surveillance missions","volume":"41","author":"Bernardini","year":"2017","journal-title":"Auton. Robot."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"232","DOI":"10.1016\/j.cogsys.2016.09.003","article-title":"A three-layer planning architecture for the autonomous control of rehabilitation therapies based on social robots","volume":"43","author":"Pulido","year":"2017","journal-title":"Cogn. Syst. Res."},{"key":"ref_17","first-page":"3","article-title":"Control of Autonomous Mobile Robots with Automated Planning","volume":"5","author":"Quintero","year":"2011","journal-title":"J. Phys. Agents"},{"key":"ref_18","unstructured":"Rocco, M.D., Sathyakeerthy, S., Grosinger, J., Pecora, F., Saffiotti, A., Bonaccorsi, M., Cavallo, F., Limosani, R., Manzi, A., and Teti, G. (2014, January 24\u201326). A Planner for Ambient Assisted Living: From High-Level Reasoning to Low-Level Robot Execution and Back. Proceedings of the AAAI Spring Symposium on Qualitative Representations for Robots, Palo Alto, CA, USA."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"523","DOI":"10.1613\/jair.5306","article-title":"Robots in retirement homes: Applying off-the-shelf planning and scheduling to a team of assistive robots","volume":"58","author":"Tran","year":"2017","journal-title":"J. Artif. Intell. Res."},{"key":"ref_20","first-page":"167","article-title":"A plan-based analysis of indirect speech acts","volume":"6","author":"Perrault","year":"1980","journal-title":"Comput. Linguist."},{"key":"ref_21","unstructured":"Brenner, M., and Kruijff-Korbayov\u00e1, I. (2008, January 2\u20134). A continual multiagent planning approach to situated dialogue. Proceedings of the 12th Workshop on Semantics and Pragmatics of Dialogue (LONDIAL), London, UK."},{"key":"ref_22","unstructured":"Steedman, M., and Petrick, R.P.A. (2007, January 1\u20132). Planning Dialog Actions. Proceedings of the 8th Workshop on Discourse and Dialogue (SIGDIAL), Antwerp, Belgium."},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Petrick, R.P.A., and Foster, M.E. (2013, January 10\u201314). Planning for Social Interaction in a Robot Bartender Domain. Proceedings of the Twenty-Third International Conference on Automated Planning and Scheduling, Rome, Italy.","DOI":"10.1609\/icaps.v23i1.13589"},{"key":"ref_24","unstructured":"Garoufi, K., and Koller, A. (2010, January 11\u201316). Automated planning for situated natural language generation. Proceedings of the 48th Annual Meeting of the Association for Computational Linguistics, Uppsala, Sweden."},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Cashmore, M., Fox, M., Long, D., Magazzeni, D., Ridder, B., Carreraa, A., Palomeras, N., Hurt\u00f3s, N., and Carrerasa, M. (2015, January 7\u201311). ROSPlan: Planning in the Robot Operating System. Proceedings of the Twenty-Fifth International Conference on International Conference on Automated Planning and Scheduling, Jerusalem, Israel.","DOI":"10.1609\/icaps.v25i1.13699"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"61","DOI":"10.1613\/jair.1129","article-title":"PDDL2.1: An Extension to PDDL for Expressing Temporal Planning Domains","volume":"20","author":"Fox","year":"2003","journal-title":"J. Artif. Intell. Res."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"179","DOI":"10.1007\/978-3-319-99885-5_13","article-title":"Challenges on the Application of Automated Planning for Comprehensive Geriatric Assessment Using an Autonomous Social Robot","volume":"Volume 855","author":"Fuentetaja","year":"2019","journal-title":"Advances in Intelligent Systems and Computing"},{"key":"ref_28","unstructured":"Bandera, A., Bandera, J.P., Bustos, P., Calderita, L.V., Duenas, A., Fern\u00e1ndez, F., Fuentetaja, R., Garc\u0131a-Olaya, A., Garc\u0131a-Polo, F.J., and Gonz\u00e1lez, J.C. (2016, January 16\u201317). CLARC: A Robotic Architecture for Comprehensive Geriatric Assessment. Proceedings of the 17th Workshop of Physical Agents (WAF), Malaga, Spain."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"403","DOI":"10.1007\/978-3-319-70833-1_33","article-title":"CLARC: A Cognitive Robot for Helping Geriatric Doctors in Real Scenarios. ROBOT (1)","volume":"Volume 693","author":"Voilmy","year":"2017","journal-title":"Advances in Intelligent Systems and Computing"},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Siciliano, B., and Khatib, O. (2016). Socially Assistive Robotics. Springer Handbook of Robotics, Springer International Publishing.","DOI":"10.1007\/978-3-319-32552-1"},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"10","DOI":"10.1016\/j.artint.2014.11.003","article-title":"Deliberation for autonomous robots: A survey","volume":"247","author":"Ingrand","year":"2017","journal-title":"Artif. Intell."},{"key":"ref_32","unstructured":"Alc\u00e1zar, V., Guzm\u00e1n, C., Prior, D., Borrajo, D., Castillo, L., and Onaindia, E. (2010, January 1\u20133). PELEA: Planning, Learning and Execution Architecture. Proceedings of the 28th Workshop of the UK Planning and Scheduling Special Interest Group (PlanSIG), Brescia, Italy."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"45","DOI":"10.1093\/bmb\/ldh033","article-title":"Comprehensive geriatric assessment for older hospital patients","volume":"71","author":"Ellis","year":"2005","journal-title":"Br. Med. Bull."},{"key":"ref_34","first-page":"56","article-title":"Functional evaluation: The Barthel index","volume":"14","author":"Mahoney","year":"1965","journal-title":"Md. State Med. J."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"189","DOI":"10.1016\/0022-3956(75)90026-6","article-title":"Mini-mental state: A practical method for grading the cognitive state of patients for the clinician","volume":"12","author":"Folstein","year":"1975","journal-title":"J. Psychiatr. Res."},{"key":"ref_36","first-page":"387","article-title":"Balance in elderly patients: The get-up and go","volume":"67","author":"Mathias","year":"1986","journal-title":"Arch. Phys. Med. Rehabil."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"24","DOI":"10.1109\/MRA.2019.2905231","article-title":"A Socially Assistive Robotic Platform for Upper-Limb Rehabilitation: A Longitudinal Study With Pediatric Patients","volume":"26","author":"Pulido","year":"2019","journal-title":"IEEE Robot. Automat. Mag."},{"key":"ref_38","doi-asserted-by":"crossref","unstructured":"Searle, J.R. (1969). Speech Acts: An Essay in the Philosophy of Language, Cambridge University Press.","DOI":"10.1017\/CBO9781139173438"},{"key":"ref_39","doi-asserted-by":"crossref","unstructured":"Austin, J.L. (1975). How to Do Things with Words, Oxford University Press.","DOI":"10.1093\/acprof:oso\/9780198245537.001.0001"},{"key":"ref_40","first-page":"344","article-title":"A taxonomy of illocutionary acts","volume":"Volume 7","author":"Searle","year":"1975","journal-title":"Language, Mind and Knowledge, Minnesota Studies in the Philosophy of Science"},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"291","DOI":"10.1613\/jair.1144","article-title":"The Metric-FF Planning System: Translating \u201cIgnoring Delete Lists\u201d to Numeric State Variables","volume":"20","author":"Hoffmann","year":"2003","journal-title":"J. Artif. Intell. Res."},{"key":"ref_42","doi-asserted-by":"crossref","unstructured":"Althoefer, K., Konstantinova, J., and Zhang, K. (2019). Probabilistic Planning for Robotics with ROSPlan. Towards Autonomous Robotic Systems, Springer International Publishing.","DOI":"10.1007\/978-3-030-25332-5"},{"key":"ref_43","first-page":"656","article-title":"A Modelling and Formalisation Tool for Use Case Design in Social Autonomous Robotics","volume":"Volume 1093","author":"Silva","year":"2019","journal-title":"Proceedings of the Fourth Iberian Robotics Conference (Robot 2019) \u2014Advances in Robotics, Volume 2"},{"key":"ref_44","doi-asserted-by":"crossref","unstructured":"Konidaris, G., Kaelbling, L.P., and Lozano-P\u00e9rez, T. (2014). Constructing Symbolic Representations for High-Level Planning. AAAI Conf. Artif. Intell., 1932\u20131940.","DOI":"10.1609\/aaai.v28i1.9004"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/22\/6520\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T10:33:29Z","timestamp":1760178809000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/22\/6520"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,11,14]]},"references-count":44,"journal-issue":{"issue":"22","published-online":{"date-parts":[[2020,11]]}},"alternative-id":["s20226520"],"URL":"https:\/\/doi.org\/10.3390\/s20226520","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2020,11,14]]}}}