Two ways to make your robot proactive: Reasoning about human intentions or reasoning about possible futures

Robots sharing their space with humans need to be proactive to be helpful. Proactive robots can act on their own initiatives in an anticipatory way to benefit humans. In this work, we investigate two ways to make robots proactive. One way is to recognize human intentions and to act to fulfill them, like opening the door that you are about to cross. The other way is to reason about possible future threats or opportunities and to act to prevent or to foster them, like recommending you to take an umbrella since rain has been forecast. In this article, we present approaches to realize these two types of proactive behavior. We then present an integrated system that can generate proactive robot behavior by reasoning on both factors: intentions and predictions. We illustrate our system on a sample use case including a domestic robot and a human. We first run this use case with the two separate proactive systems, intention-based and prediction-based, and then run it with our integrated system. The results show that the integrated system is able to consider a broader variety of aspects that are required for proactivity.