Independent thesis Advanced level (professional degree), 20 credits / 30 HE credits
This thesis focuses on the collaborative action planning for humanoid robot
agents alone with each other or with a human agent. The action performed
by these agents consists of exchanging a small deformable monochrome object
using one arm. This situation occurs for instance when robots are employed to
help elderly or disabled persons at home or retirement houses get an object dif-
cult to reach, tidy rooms,etc. The used robots are NAOs made by Aldebaran
The thesis covers details about behavior trees which are a formal method used
to plan the exchange and synchronize the NAOs, the Robot Operating System
ROS which gives a global structure for the computer code, and NAOs with their
This work also focuses on the image processing algorithms (HSV-lters, Connected-
Components Labeling and Union-Find) that were used to detect an object and
get its contour in the NAO's camera image, and the geometric applications that
allow to get the 3D-position of a quasi-spherical object, knowing its dimensions
and its projection on a camera focal plane.
2014. , 81 p.