Introducing a ROS based planning and execution framework for human-robot interaction

Working in human populated environments requires fast and robust action selection and execution especially when deliberately trying to interact with humans. This work presents the combination of a high-level planner (ROSPlan) for action sequencing and automatically generated finite state machines (PNP) for execution. Using this combined system we are able to exploit the speed and robustness of the execution and the flexibility of the sequence generation and combine the positive aspects of both approaches.