Human-Robot Harvesting Plan Negotiation: Perception, Grape Mapping and Shared Planning

In this paper we present an application of plan negotiation for distributing work in Human-Robot Teams (HRT), engaging in a shared plan generation process. This model has been experimented over data collected from a real-life table grape vineyard field in Corsira (Aprilia, Italy) on the context of the EU CANOPIES project. In this work we describe a complete system up to negotiation agreement, the perception system to detect the grapes position and quality, the grape map generation process and the proposed plan negotiation approach, and protocol used to interactively generate harvest plans. Our proposed approach tackles harvest plan generation as a two step negotiation process on negotiation domains of increasing embedded information. The shared planning process was evaluated using both a subjective user study and teammate quantitative models.