47 citations · 137 across the 28 of their papers we have counts for
28 papers
Towards Numerical TOHTN Planning with SMT-based HTN-SAT Encoding
Gaspard Quenard, Takudzwa Togarepi, Damien Pellier +1
While HTN planning has received significant attention in recent years, support for numerical reasoning remains very limited. In this paper, we investigate numerical Totally-Ordered…
Lose the Order, Keep the Hierarchy: Deordering HTN Plans
Takudzwa Togarepi, Gaspard Quenard, Damien Pellier +1
Hierarchical Task Network (HTN) planning is a powerful planning formalism based on task decomposition. Although most of the literature studied plan generation, comparatively less a…
A complementary study on PlanGPT: Evaluation with defined Performance Metrics and comparison with a planner
Youssef Abdelkader, Humbert Fiorino, Damien Pellier
Automated Planning is a subfield of Artificial Intelligence (AI) where the main objective is generating a sequence of actions, known as a plan, that helps us reach a goal state fro…
A Beacon Based Solution for Autonomous UUVs GNSS-Denied Stealthy Navigation
Alexandre Albore, Humbert Fiorino, Damien Pellier
Autonomous Unmanned Underwater Vehicles (UUVs) enable military and civilian covert operations in coastal areas without relying on support vessels or Global Navigation Satellite Sys…
SibylSat: Using SAT as an Oracle to Perform a Greedy Search on TOHTN Planning
Gaspard Quenard, Damier Pellier, Humbert Fiorino
This paper presents SibylSat, a novel SAT-based method designed to efficiently solve totally-ordered HTN problems (TOHTN). In contrast to prevailing SAT-based HTN planners that emp…
Human-Cobot collaboration's impact on success, time completion, errors, workload, gestures and acceptability during an assembly task
Étienne Fournier, Christine Jeoffrion, Belal Hmedan +3
The 5.0 industry promotes collaborative robots (cobots). This research studies the impacts of cobot collaboration using an experimental setup. 120 participants realized a simple an…
On Guiding Search in HTN Temporal Planning with non Temporal Heuristics
Nicolas Cavrel, Damien Pellier, Humbert Fiorino
The Hierarchical Task Network (HTN) formalism is used to express a wide variety of planning problems as task decompositions, and many techniques have been proposed to solve them. H…
HDDL 2.1: Towards Defining a Formalism and a Semantics for Temporal HTN Planning
Damien Pellier, Alexandre Albore, Humbert Fiorino +1
Real world applications as in industry and robotics need modelling rich and diverse automated planning problems. Their resolution usually requires coordinated and concurrent action…
The Impacts of Human-Cobot Collaboration on Perceived Cognitive Load and Usability during an Industrial Task: An Exploratory Experiment
Étienne Fournier, Dorilys Kilgus, Aurélie Landry +4
Since cobots (collaborative robots) are increasingly being introduced in industrial environments, being aware of their potential positive and negative impacts on human collaborator…
An Efficient HTN to STRIPS Encoding for Concurrent Plans
N. Cavrel, D. Pellier, H. Fiorino
The Hierarchical Task Network (HTN) formalism is used to express a wide variety of planning problems in terms of decompositions of tasks into subtaks. Many techniques have been pro…
An Accurate HDDL Domain Learning Algorithm from Partial and Noisy Observations
M. Grand, H. Fiorino, D. Pellier
The Hierarchical Task Network ({\sf HTN}) formalism is very expressive and used to express a wide variety of planning problems. In contrast to the classical {\sf STRIPS} formalism…
HDDL 2.1: Towards Defining an HTN Formalism with Time
D. Pellier, H. Fiorino, M. Grand +2
Real world applications of planning, like in industry and robotics, require modelling rich and diverse scenarios. Their resolution usually requires coordinated and concurrent actio…
iRoPro: An interactive Robot Programming Framework
Ying Siu Liang, Damien Pellier, Humbert Fiorino +1
The great diversity of end-user tasks ranging from manufacturing environments to personal homes makes pre-programming robots for general purpose applications extremely challenging.…
TempAMLSI : Temporal Action Model Learning based on Grammar Induction
Maxence Grand, Damien Pellier, Humbert Fiorino
Hand-encoding PDDL domains is generally accepted as difficult, tedious and error-prone. The difficulty is even greater when temporal domains have to be encoded. Indeed, actions hav…
End-User Programming of Low- and High-Level Actions for Robotic Task Planning
Ying Siu Liang, Damien Pellier, Humbert Fiorino +1
Programming robots for general purpose applications is extremely challenging due to the great diversity of end-user tasks ranging from manufacturing environments to personal homes.…
From Classical to Hierarchical: benchmarks for the HTN Track of the International Planning Competition
Damien Pellier, Humbert Fiorino
In this short paper, we outline nine classical benchmarks submitted to the first hierarchical planning track of the International Planning competition in 2020. All of these benchma…
Totally and Partially Ordered Hierarchical Planners in PDDL4J Library
Damien Pellier, Humbert Fiorino
In this paper, we outline the implementation of the TFD (Totally Ordered Fast Downward) and the PFD (Partially ordered Fast Downward) hierarchical planners that participated in the…
AMLSI: A Novel Accurate Action Model Learning Algorithm
Maxence Grand, Humbert Fiorino, Damien Pellier
This paper presents new approach based on grammar induction called AMLSI Action Model Learning with State machine Interactions. The AMLSI approach does not require a training datas…
HDDL -- A Language to Describe Hierarchical Planning Problems
D. Höller, G. Behnke, P. Bercher +4
The research in hierarchical planning has made considerable progress in the last few years. Many recent systems do not rely on hand-tailored advice anymore to find solutions, but a…
Hierarchical Planning in the IPC
D. Höller, G. Behnke, P. Bercher +4
Over the last year, the amount of research in hierarchical planning has increased, leading to significant improvements in the performance of planners. However, the research is dive…
Une architecture cognitive et affective orient{é}e interaction
Damien Pellier, Carole Adam, Wafa Johal +2
In this paper, we present CAIO, a Cognitive and Affective Interaction-Oriented architecture for social human-robot interactions (HRI), allowing robots to reason on mental states (i…
A Review on Learning Planning Action Models for Socio-Communicative HRI
Ankuj Arora, Humbert Fiorino, Damien Pellier +1
For social robots to be brought more into widespread use in the fields of companionship, care taking and domestic help, they must be capable of demonstrating social intelligence. I…
Mining useful Macro-actions in Planning
Sandra Castellanos-Paez, Damien Pellier, Humbert Fiorino +1
Planning has achieved significant progress in recent years. Among the various approaches to scale up plan synthesis, the use of macro-actions has been widely explored. As a first s…
A Framework for Robot Programming in Cobotic Environments: First user experiments
Ying Siu Liang, Damien Pellier, Humbert Fiorino +1
The increasing presence of robots in industries has not gone unnoticed. Large industrial players have incorporated them into their production lines, but smaller companies hesitate…