Geometric Tools for Perspective Taking for Human–Robot Interaction

Psychological studies on human interactions made surface the notion perspective taking. This notion, referring to reason on other persons´ points of view, eases the communication between interacting individuals. For a robot interacting with people, we believe that perspective taking can play an important role that will allow the robot to understand, reason and act according to human´s point of view thus allowing an efficient communication and cooperation. In this paper, we propose a group of algorithms to evaluate and generate robot configurations that are not only collision free but also obeying HRI constraints by reasoning explicitly on human´s perspective.