Planning Module:
This is a task manager module. This module maps cooperation states, in a collaboration process, as represented in the AND/OR graph structure to either human or robot actions. The module plans for suggested states receiving appropriate information from the AND/OR graph, it grounds action parameters to actual values, and it performs action assignments on the basis of incoming perceptual information
References
If you are interested to understand better this module, please read the following papers. If you're going to use this package for your work, please quote the following papers within any resulting publication:
K. Darvish, E. Simetti, F. Mastrogiovanni and G. Casalino, "A Hierarchical Architecture for Human–Robot Cooperation Processes," in IEEE Transactions on Robotics, vol. 37, no. 2, pp. 567-586, 2021.
K. Darvish, B. Bruno, E. Simetti, F. Mastrogiovanni and G. Casalino, "Interleaved Online Task Planning, Simulation, Task Allocation and Motion Control for Flexible Human-Robot Cooperation," 2018 IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2018, pp. 58-65, doi: 10.1109/ROMAN.2018.8525644.
@ARTICLE{Darvish2021,
author={Darvish, Kourosh and Simetti, Enrico and Mastrogiovanni, Fulvio and Casalino, Giuseppe},
journal={IEEE Transactions on Robotics},
title={A Hierarchical Architecture for Human–Robot Cooperation Processes},
year={2021},
volume={37},
number={2},
pages={567-586},
doi={10.1109/TRO.2020.3033715}}
@INPROCEEDINGS{8525644,
author={Darvish, Kourosh and Bruno, Barbara and Simetti, Enrico and Mastrogiovanni, Fulvio and Casalino, Giuseppe},
booktitle={2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)},
title={Interleaved Online Task Planning, Simulation, Task Allocation and Motion Control for Flexible Human-Robot Cooperation},
year={2018},
pages={58-65},
doi={10.1109/ROMAN.2018.8525644}}