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We present a motion planning algorithm to compute collision-free and smooth trajectories for robots cooperating with humans in a shared workspace. Our approach uses offline learning of human actions and their temporal coherence to predict the human actions at runtime. This data is used by an intention-aware motion planning algorithm that is used to compute a reliable trajectory based on these predicted actions. We highlight the performance of our planning algorithm in complex simulated scenarios and real world scenarios with 7-DOF robot arms operating in a workspace with a human performing complex tasks. We demonstrate the benefits of our intention-aware planner in terms of computing safe trajectories.

Intention-Aware Motion Planning Using Learning Based Human Motion Prediction