Human-robot collaborative task achievement requires the robot to reason not only about its current beliefs but also about the ones of its human partner. In this paper, we introduce a framework to manage shared knowledge for a robotic system dedicated to interactive task achievement with a human. In a first part, we define which beliefs should be taken into account ; we then explain a manner to achieve them using communication schemes. Several examples are presented to illustrate the purpose of beliefs management including a real experiment demonstrating a "give object" task between the Jido robotic platform and a human.
['Aurélie Clodic', 'Maxime Ransan', 'Rachid Alami', 'Vincent Montreuil']
A management of mutual belief for human-robot interaction