Implementing a Human-Aware Robot System

The presence of humans in the robot environment brings new challenges to the robotic research. From low level functions to high level planners, clearly the human has to be taken into account in all the layers of the robot control system. Indeed, the robot has to behave socially in order to interact friendly with its human partners. This paper describes the development of several components (human detection and tracking, planning and supervision) that take into account humans explicitly with some preliminary results of their integration.