Negotiation-based cooperative planning of local trajectories

In this work, a cooperative local trajectory planner based on negotiation theory for human‐robot interaction is developed. It implemented robot, which accompanies patients to examination rooms as part of the HoLLiECares project. For purpose, an existing human–machine cooperation model decision-making in one-time conflict cases applied time-repeated motion primitives. theory, time pressure form deadlines classically used achieve agreements. Since do not naturally exist all technical applications and their artificial insertion would create unintuitive system behavior involved human, reciprocal tit-for-tat strategy automation present work This leads that able dynamically change between human-in-the-lead or automation-in-the-lead everything depending concession human thus human’s desire. The negotiation-based tested simulatively.